power down and idle changes

86 files changed, 5012 insertions, 1044 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index c311e9787..3357cfc06 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -55,6 +55,7 @@ int32_t FileSentLength = 0;
 static char g_cCwdBuf[50] = "/";
 uint32_t WrittenBytes = 0;
 uint32_t ReadBytes = 0;
+Task_Handle CommRxTaskHandle;
 
 
 ErrorCode getErrorCode(FRESULT Fresult)
@@ -81,27 +82,34 @@ uint32_t    FileUploadRequestFunc(MessageContainer* requestContainer)
     FileUploadResponse response = FILE_UPLOAD_RESPONSE__INIT;
 
     WrittenBytes=0;
-    UploadFileHandle = my_malloc(sizeof(FIL));
-    if (UploadFileHandle == 0)
+    if (JobIsActive())
         Fresult = FR_DENIED;
     else
     {
-        Fresult = f_open(UploadFileHandle,request->path,FA_READ | FA_WRITE |  FA_OPEN_ALWAYS );
-        if (Fresult == FR_OK)
-        {
-            FileLength = request->length;
-            response.has_maxchunklength = true;
-            response.maxchunklength = MAX_CHUNK_LENGTH;
-            strcpy(FileHandleChar, "1234");
-            response.uploadid = FileHandleChar; //supporting only single file at each time.
-        }
+        UploadFileHandle = my_malloc(sizeof(FIL));
+        if (UploadFileHandle == 0)
+            Fresult = FR_DENIED;
         else
         {
-            free (UploadFileHandle);
-            UploadFileHandle = 0;
-        }
+            Fresult = f_open(UploadFileHandle,request->path,FA_READ | FA_WRITE | FA_OPEN_ALWAYS | FA_CREATE_ALWAYS);
+            if (Fresult == FR_OK)
+            {
+                FileLength = request->length;
+                response.has_maxchunklength = true;
+                response.maxchunklength = MAX_CHUNK_LENGTH;
+                strcpy(FileHandleChar, "1234");
+                response.uploadid = FileHandleChar; //supporting only single file at each time.
+            }
+            else
+            {
+                free (UploadFileHandle);
+                UploadFileHandle = 0;
+            }
 
+        }
     }
+    CommRxTaskHandle = Task_self();
+    Task_setPri(CommRxTaskHandle, 4);
 
 
     responseContainer = createContainer(MESSAGE_TYPE__FileUploadResponse,  requestContainer->token, false, &response, &file_upload_response__pack, &file_upload_response__get_packed_size);
@@ -123,6 +131,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
 {
     //uint32_t status = OK;
     FRESULT Fresult = FR_OK;
+    bool FileDone = false;
 
 
     MessageContainer responseContainer;
@@ -142,6 +151,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
         if(Fresult != FR_OK)
         {
             LOG_ERROR (Fresult,"f_write error");
+            FileDone = true;
         }
         else
         {
@@ -152,6 +162,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
                 f_close(ReceivedFileHandle);
                 free (UploadFileHandle);
                 FileReceivedLength = 0;
+                FileDone = true;
             }
             else
             {
@@ -161,6 +172,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
                     f_close(ReceivedFileHandle);
                     free (UploadFileHandle);
                     FileReceivedLength = 0;
+                    FileDone = true;
                 }
             }
         }
@@ -185,6 +197,8 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
     file_chunk_upload_request__free_unpacked(request,NULL);
     my_free(responseContainer.data.data);
     SendChars(container_buffer, container_size);
+    if (FileDone == true)
+        Task_setPri(CommRxTaskHandle, 9);
 
     return OK;
 }
@@ -504,7 +518,7 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     #define MAX_NUM_OF_FILES 10
     DIR dir;
     FILINFO* fno[MAX_NUM_OF_FILES];
-    char FullPath[MAX_NUM_OF_FILES][50];
+    char FullPath[MAX_NUM_OF_FILES][100];
     int i,NumOfFiles = 0;
     FRESULT Fresult = FR_OK;
 
@@ -580,11 +594,14 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     }
     responseContainer.continuous = false;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    if (container_buffer)
+    {
+        size_t container_size = message_container__pack(&responseContainer, container_buffer);
+        SendChars(container_buffer, container_size);
+    }
     my_free(responseContainer.data.data);
     my_free(FilesInfo);
     get_files_request__free_unpacked(request,NULL);
-    SendChars(container_buffer, container_size);
     for (i = 0;i < NumOfFiles;i++)
     {
         if (fno[i])
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
index c66300b7e..d54280fee 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
@@ -21,8 +21,62 @@
 #include  <Communication/PMR/FirmwareUpgrade/VersionFileDescriptor.pb-c.h>
 #include  <Communication/PMR/FirmwareUpgrade/VersionPackageDescriptor.pb-c.h>
 
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
+#include "drivers/FPGA/Full_Vme/ispvme/vmopcode.h"
+#include "Common/Utilities/Utils.h"
+
 #include "Common/SWUpdate/FileSystem.h"
+#include "Modules/Control/Control.h"
+
+int NumberOfFiles = 0,CurrentRunningFile;
+int CurrentFileSize = 0;
+uint32_t ActivateVersionControlId = 0xFF;
+char activateString[100];
+char ActivateToken[36+1]={0};
+bool Reboot = false;
+
+
+bool SwUpgradeActive(void)
+{
+    if (ActivateVersionControlId != 0xFF)
+    {
+        Reboot = false;
+        return true;
+    }
+    return false;
+}
+uint32_t ActivateVersionCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    //ActivateVersionResponse response = ACTIVATE_VERSION_RESPONSE__INIT;
+    //MessageContainer responseContainer;
+
+    usnprintf(activateString, 1000, "file %d of %d bytes %d of %d",CurrentRunningFile,NumberOfFiles,vme_index,CurrentFileSize);
+
+    Report(activateString,__FILE__,__LINE__,(int)CurrentRunningFile,RpWarning,CurrentFileSize,0);
+
+    if (CurrentRunningFile<NumberOfFiles)
+        return OK;
+    if (SafeRemoveControlCallback(ActivateVersionControlId, ActivateVersionCallBackFunction )==OK)
+        ActivateVersionControlId = 0xFF;
+    else
+        LOG_ERROR(255,"ActivateVersionCallBackFunction");
+    return OK;
+
+    /*
+    responseContainer = createContainer(MESSAGE_TYPE__ActivateVersionResponse,  ActivateToken, false, &response, &activate_version_response__pack, &activate_version_response__get_packed_size);
+    responseContainer.continuous = true;
+    uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    my_free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    if (Reboot == true)
+    {
+        Power_Reset();
+    }
+*/
+}
 
 uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
 {
@@ -31,8 +85,12 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
     char SWUpgradePath[100];
     char FullPath[50];
     FRESULT Fresult = FR_OK;
+    FILINFO* fno = 0;
+
+    fno = my_malloc(sizeof(FILINFO));
+    if (fno == 0)
+        return ERROR;
     int File_i;
-    bool Reboot = false;
     MessageContainer responseContainer;
 
     ActivateVersionRequest* request = activate_version_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
@@ -42,6 +100,7 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
 
     FPGA_ID FileDestinationToFPGAId[VERSION_FILE_DESTINATION__FPGA3+1] = {MAX_FPGA,FPGA1,FPGA2,FPGA3};
 
+    ustrncpy (ActivateToken, requestContainer->token,36);
 
     strcpy (SWUpgradePath,request->path);
     strcat(SWUpgradePath,"/package.cfg");
@@ -50,8 +109,18 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
     if (Fresult == FR_OK)
     {
         VersionPackage = version_package_descriptor__unpack(NULL,Bytes,buffer);
+        NumberOfFiles = VersionPackage->n_filedescriptors;
+        if (NumberOfFiles)
+        {
+            CurrentRunningFile = 0;
+            //add control 1 second
+            ActivateVersionControlId = AddControlCallback( ActivateVersionCallBackFunction, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+        }
         for (File_i = 0;File_i<VersionPackage->n_filedescriptors;File_i++)
         {
+            CurrentRunningFile = 0;
+            CurrentFileSize = -1;
+            vme_index = 0;
             switch(VersionPackage->filedescriptors[File_i]->destination)
             {
             case   VERSION_FILE_DESTINATION__MCU:
@@ -62,11 +131,11 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
                 //validate
                 //update
                 usnprintf(FullPath, 50,  "%s%s%s", request->path,"/", VersionPackage->filedescriptors[File_i]->filename);
-                if (VersionPackage->filedescriptors[File_i]->destination == VERSION_FILE_DESTINATION__FPGA3)
-                    Reboot = true;
-                else
-                    Reboot = false;
-                Fresult = FPGA_Programming_Request( FileDestinationToFPGAId[VersionPackage->filedescriptors[File_i]->destination], FullPath, Reboot);
+                Reboot = true;
+                memset (fno,0,sizeof(FILINFO));
+                Fresult = f_stat(FullPath,fno);
+                CurrentFileSize = fno->fsize;
+                Fresult = FPGA_Programming_Request( FileDestinationToFPGAId[VersionPackage->filedescriptors[File_i]->destination], FullPath, false);
                 break;
             case VERSION_FILE_DESTINATION__ConfigParams:
                     usnprintf(FullPath, 50,  "%s%s%s", request->path,"/", VersionPackage->filedescriptors[File_i]->filename);
@@ -108,6 +177,10 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
     activate_version_request__free_unpacked(request,NULL);
     SendChars(container_buffer, container_size);
 
+    if (Reboot == true)
+    {
+        Power_Reset();
+    }
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h
index 9af76f96f..6f817fe90 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.h
@@ -11,6 +11,7 @@
 
 uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer);
 uint32_t    ValidateVersionRequestFunc(MessageContainer* requestContainer);
+bool SwUpgradeActive(void);
 
 
 
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 15e9fe828..030c4229e 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,3,7,88};
+TangoVersion_t _gTangoVersion = {1,3,8,3};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c
index 0515b0472..f011653ec 100644
--- a/Software/Embedded_SW/Embedded/Common/report/distributor.c
+++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c
@@ -242,7 +242,7 @@ Void reportService(UArg arg0, UArg arg1)
     ReportInitParams InitParams;
     InitParams.DistributorQueueMaxMsgs = 30;
     InitParams.DistributorTaskPriority = 6;
-    InitParams.MaxNumOfFilterNames = 1;
+    InitParams.MaxNumOfFilterNames = 30;
     InitParams.MaxNumberOfPrivateDistributors = 2;
     ReportInit (InitParams);
 
diff --git a/Software/Embedded_SW/Embedded/Common/report/reportInit.c b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
index feb13504a..bc3cbe20b 100644
--- a/Software/Embedded_SW/Embedded/Common/report/reportInit.c
+++ b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
@@ -38,6 +38,21 @@
 #include "PMR/debugging/StartDebugLogResponse.pb-c.h"
 #include "PMR/debugging/StopDebugLogResponse.pb-c.h"
 
+/*PackageHandle ControlFilter;
+PackageHandle HeatersFilter;
+PackageHandle JobFilter  ;
+PackageHandle WasteFilter  ;
+PackageHandle AlarmFilter  ;
+PackageHandle DiagnosticsFilter;
+PackageHandle IDSFilter;
+PackageHandle ThreadFilter;
+PackageHandle GeneralFilter;
+PackageHandle CommFilter;
+PackageHandle FPGAFilter;
+PackageHandle LoadFilter;
+PackageHandle InitFilter;
+PackageHandle MaintFilter;*/
+
 
 char protobufToken[36+1] = {0};
 int ReportResponseFunc(char *message,       /* The formatted message                */
@@ -115,11 +130,6 @@ uint32_t ReportInitMessage(MessageContainer* requestContainer)
 
     StartDebugLogRequest* request = start_debug_log_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     ustrncpy (protobufToken, requestContainer->token,36);
- /*   InitParams.DistributorQueueMaxMsgs = 20;
-    InitParams.DistributorTaskPriority = 6;
-    InitParams.MaxNumOfFilterNames = 1;
-    InitParams.MaxNumberOfPrivateDistributors = 2;
-    status |= ReportInit (InitParams);*/
     DistributorHandle ReportHandle = ReportAddDistributor("ProtoBuf");
     if (ReportHandle == NULL) status |= 0x8;
     status |= ReportFunc(ReportResponseFunc , REPORT_ADD, ReportHandle);
@@ -166,7 +176,6 @@ void ReportStopReporting(void)
     protobufToken[0] = 0;
 }
 
-#define REPORT_RESERVED_NUM_OF_FILTER_PACKAGES 30 /* This reserved for swinfra packages */
 
 /***************************************************************************
  *
@@ -204,10 +213,24 @@ STATUS ReportInit(ReportInitParams InitParams)
     //ReportMonitorFunc(REPORT_ADD, 0);
 
     MaxNumOfFilterNames = InitParams.MaxNumOfFilterNames;
-    MaxNumOfFilterNames += REPORT_RESERVED_NUM_OF_FILTER_PACKAGES;
     status = filterTableInit(MaxNumOfFilterNames);
     if (status == OK)
         initialized = true;
+/*    ControlFilter  = ReportAddFilterPackage("Control");
+    HeatersFilter  = ReportAddFilterPackage("Heaters");
+    JobFilter  = ReportAddFilterPackage("Job");
+    WasteFilter  = ReportAddFilterPackage("Waste");
+    AlarmFilter  = ReportAddFilterPackage("Alarm");
+    DiagnosticsFilter  = ReportAddFilterPackage("Diagnostics");
+    IDSFilter  = ReportAddFilterPackage("IDS");
+    ThreadFilter  = ReportAddFilterPackage("Thread");
+    GeneralFilter  = ReportAddFilterPackage("General");
+    CommFilter  = ReportAddFilterPackage("Comm");
+    FPGAFilter  = ReportAddFilterPackage("FPGA");
+    LoadFilter  = ReportAddFilterPackage("Load");
+    InitFilter  = ReportAddFilterPackage("Init");
+    MaintFilter  = ReportAddFilterPackage("Maint");*/
+//    Filter  = ReportAddFilterPackage("");
 
     return status;
 }
diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index bb6b82743..b0c063a5e 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -43,6 +43,7 @@
 #include "Communication/CommunicationTask.h"
 
 #include "StateMachines/Printing/PrintingSTM.h"
+#include "StateMachines/Initialization/PowerIdle.h"
 #include "Common/report/report.h"
 #include "Connection.h"
 
@@ -130,13 +131,15 @@ void receive_callback(char* buffer, size_t length)
      if (requestContainer == NULL)
          return;
    //  HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/length,requestContainer->type,0,0, "Container");
+    if (requestContainer->type != MESSAGE_TYPE__KeepAliveRequest) //user action resets the idle counter
+        resetIdleCounter();
 
      msgId[index] = requestContainer->type;
      Length[index] = length;
      DataLength[index] = requestContainer->data.len;
      if (index++>=MAX_CONT_LOG)
          index = 0;
-     REPORT_MSG(requestContainer->type,"Message received");
+     //REPORT_MSG(requestContainer->type,"Message received");
      switch(requestContainer->type)
      {
          case MESSAGE_TYPE__CalculateRequest:
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Debugging/DebugLogCategory.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Debugging/DebugLogCategory.pb-c.c
index b651d2acb..ebb901ba8 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Debugging/DebugLogCategory.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Debugging/DebugLogCategory.pb-c.c
@@ -13,7 +13,7 @@ static const ProtobufCEnumValue debug_log_category__enum_values_by_number[5] =
   { "Warning", "DEBUG_LOG_CATEGORY__Warning", 1 },
   { "Error", "DEBUG_LOG_CATEGORY__Error", 2 },
   { "Critical", "DEBUG_LOG_CATEGORY__Critical", 3 },
-  { "Safety", "DEBUG_LOG_CATEGORY__Safety", 4 },
+  { "Debug", "DEBUG_LOG_CATEGORY__Debug", 4 },
 };
 static const ProtobufCIntRange debug_log_category__value_ranges[] = {
 {0, 0},{0, 5}
@@ -21,9 +21,9 @@ static const ProtobufCIntRange debug_log_category__value_ranges[] = {
 static const ProtobufCEnumValueIndex debug_log_category__enum_values_by_name[5] =
 {
   { "Critical", 3 },
+  { "Debug", 4 },
   { "Error", 2 },
   { "Info", 0 },
-  { "Safety", 4 },
   { "Warning", 1 },
 };
 const ProtobufCEnumDescriptor debug_log_category__descriptor =
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Debugging/DebugLogCategory.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Debugging/DebugLogCategory.pb-c.h
index 1fda3ab01..d97b42d33 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Debugging/DebugLogCategory.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Debugging/DebugLogCategory.pb-c.h
@@ -24,7 +24,7 @@ typedef enum _DebugLogCategory {
   DEBUG_LOG_CATEGORY__Warning = 1,
   DEBUG_LOG_CATEGORY__Error = 2,
   DEBUG_LOG_CATEGORY__Critical = 3,
-  DEBUG_LOG_CATEGORY__Safety = 4
+  DEBUG_LOG_CATEGORY__Debug = 4
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(DEBUG_LOG_CATEGORY)
 } DebugLogCategory;
 
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmSourceType.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmSourceType.pb-c.c
index 59509c39e..4167a9599 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmSourceType.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmSourceType.pb-c.c
@@ -7,7 +7,7 @@
 #endif
 
 #include "AlarmSourceType.pb-c.h"
-static const ProtobufCEnumValue alarm_source_type__enum_values_by_number[7] =
+static const ProtobufCEnumValue alarm_source_type__enum_values_by_number[10] =
 {
   { "TemperatureAlarm", "ALARM_SOURCE_TYPE__TemperatureAlarm", 0 },
   { "LimitSwitchAlarm", "ALARM_SOURCE_TYPE__LimitSwitchAlarm", 1 },
@@ -16,18 +16,24 @@ static const ProtobufCEnumValue alarm_source_type__enum_values_by_number[7] =
   { "MotorAlarm", "ALARM_SOURCE_TYPE__MotorAlarm", 4 },
   { "CoversAlarm", "ALARM_SOURCE_TYPE__CoversAlarm", 5 },
   { "DoNotPollAlarm", "ALARM_SOURCE_TYPE__DoNotPollAlarm", 6 },
+  { "HardLimitAlarm", "ALARM_SOURCE_TYPE__HardLimitAlarm", 7 },
+  { "TachoAlarm", "ALARM_SOURCE_TYPE__TachoAlarm", 8 },
+  { "FluidLevelAlarm", "ALARM_SOURCE_TYPE__FluidLevelAlarm", 9 },
 };
 static const ProtobufCIntRange alarm_source_type__value_ranges[] = {
-{0, 0},{0, 7}
+{0, 0},{0, 10}
 };
-static const ProtobufCEnumValueIndex alarm_source_type__enum_values_by_name[7] =
+static const ProtobufCEnumValueIndex alarm_source_type__enum_values_by_name[10] =
 {
   { "CoversAlarm", 5 },
   { "CurrentAlarm", 3 },
   { "DoNotPollAlarm", 6 },
+  { "FluidLevelAlarm", 9 },
+  { "HardLimitAlarm", 7 },
   { "LimitSwitchAlarm", 1 },
   { "MotorAlarm", 4 },
   { "PressureAlarm", 2 },
+  { "TachoAlarm", 8 },
   { "TemperatureAlarm", 0 },
 };
 const ProtobufCEnumDescriptor alarm_source_type__descriptor =
@@ -37,9 +43,9 @@ const ProtobufCEnumDescriptor alarm_source_type__descriptor =
   "AlarmSourceType",
   "AlarmSourceType",
   "",
-  7,
+  10,
   alarm_source_type__enum_values_by_number,
-  7,
+  10,
   alarm_source_type__enum_values_by_name,
   1,
   alarm_source_type__value_ranges,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmSourceType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmSourceType.pb-c.h
index 2f6135176..4c7d0f91e 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmSourceType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmSourceType.pb-c.h
@@ -26,7 +26,10 @@ typedef enum _AlarmSourceType {
   ALARM_SOURCE_TYPE__CurrentAlarm = 3,
   ALARM_SOURCE_TYPE__MotorAlarm = 4,
   ALARM_SOURCE_TYPE__CoversAlarm = 5,
-  ALARM_SOURCE_TYPE__DoNotPollAlarm = 6
+  ALARM_SOURCE_TYPE__DoNotPollAlarm = 6,
+  ALARM_SOURCE_TYPE__HardLimitAlarm = 7,
+  ALARM_SOURCE_TYPE__TachoAlarm = 8,
+  ALARM_SOURCE_TYPE__FluidLevelAlarm = 9
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(ALARM_SOURCE_TYPE)
 } AlarmSourceType;
 
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/ConfigurationParameters.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/ConfigurationParameters.pb-c.c
index b5e08ea1f..c4c74c826 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/ConfigurationParameters.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/ConfigurationParameters.pb-c.c
@@ -52,7 +52,7 @@ void   configuration_parameters__free_unpacked
   assert(message->base.descriptor == &configuration_parameters__descriptor);
   protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
 }
-static const ProtobufCFieldDescriptor configuration_parameters__field_descriptors[21] =
+static const ProtobufCFieldDescriptor configuration_parameters__field_descriptors[29] =
 {
   {
     "BreakSensorLimit",
@@ -306,12 +306,110 @@ static const ProtobufCFieldDescriptor configuration_parameters__field_descriptor
     0,             /* flags */
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
+  {
+    "CurrentAlarmLowLimit",
+    22,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(ConfigurationParameters, has_currentalarmlowlimit),
+    offsetof(ConfigurationParameters, currentalarmlowlimit),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "CurrentAlarmHighLimit",
+    23,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(ConfigurationParameters, has_currentalarmhighlimit),
+    offsetof(ConfigurationParameters, currentalarmhighlimit),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "IDS_SegmentRefillTimeout",
+    24,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(ConfigurationParameters, has_ids_segmentrefilltimeout),
+    offsetof(ConfigurationParameters, ids_segmentrefilltimeout),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "IDS_PreSegmentBuildupTime",
+    25,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(ConfigurationParameters, has_ids_presegmentbuilduptime),
+    offsetof(ConfigurationParameters, ids_presegmentbuilduptime),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "IDS_CleaningSpeed",
+    26,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(ConfigurationParameters, has_ids_cleaningspeed),
+    offsetof(ConfigurationParameters, ids_cleaningspeed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "IDS_CleaningStopBeforeSegmentTime",
+    27,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(ConfigurationParameters, has_ids_cleaningstopbeforesegmenttime),
+    offsetof(ConfigurationParameters, ids_cleaningstopbeforesegmenttime),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "IDS_LeftCleaningMotorSpeed",
+    28,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(ConfigurationParameters, has_ids_leftcleaningmotorspeed),
+    offsetof(ConfigurationParameters, ids_leftcleaningmotorspeed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "IDS_RightCleaningMotorSpeed",
+    29,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(ConfigurationParameters, has_ids_rightcleaningmotorspeed),
+    offsetof(ConfigurationParameters, ids_rightcleaningmotorspeed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
 };
 static const unsigned configuration_parameters__field_indices_by_name[] = {
   13,   /* field[13] = ACHeatersLowerOperationLimit */
   14,   /* field[14] = ACHeatersUpperOperationLimit */
   0,   /* field[0] = BreakSensorLimit */
   4,   /* field[4] = CloseValveTimeout */
+  22,   /* field[22] = CurrentAlarmHighLimit */
+  21,   /* field[21] = CurrentAlarmLowLimit */
   15,   /* field[15] = DCHeatersLowerOperationLimit */
   16,   /* field[16] = DCHeatersUpperOperationLimit */
   1,   /* field[1] = DiagnosticCollectionLimit */
@@ -321,6 +419,12 @@ static const unsigned configuration_parameters__field_indices_by_name[] = {
   11,   /* field[11] = DispenserBuildPressureTimeout */
   18,   /* field[18] = DispenserPresegmentWFCF */
   20,   /* field[20] = GeneralParameters */
+  25,   /* field[25] = IDS_CleaningSpeed */
+  26,   /* field[26] = IDS_CleaningStopBeforeSegmentTime */
+  27,   /* field[27] = IDS_LeftCleaningMotorSpeed */
+  24,   /* field[24] = IDS_PreSegmentBuildupTime */
+  28,   /* field[28] = IDS_RightCleaningMotorSpeed */
+  23,   /* field[23] = IDS_SegmentRefillTimeout */
   6,   /* field[6] = InitialDispenserPressure */
   8,   /* field[8] = InitialDispenserTimeLag */
   7,   /* field[7] = InitialDispenserTimeout */
@@ -333,7 +437,7 @@ static const unsigned configuration_parameters__field_indices_by_name[] = {
 static const ProtobufCIntRange configuration_parameters__number_ranges[1 + 1] =
 {
   { 1, 0 },
-  { 0, 21 }
+  { 0, 29 }
 };
 const ProtobufCMessageDescriptor configuration_parameters__descriptor =
 {
@@ -343,7 +447,7 @@ const ProtobufCMessageDescriptor configuration_parameters__descriptor =
   "ConfigurationParameters",
   "",
   sizeof(ConfigurationParameters),
-  21,
+  29,
   configuration_parameters__field_descriptors,
   configuration_parameters__field_indices_by_name,
   1,  configuration_parameters__number_ranges,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/ConfigurationParameters.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/ConfigurationParameters.pb-c.h
index 3911bbcb1..1b729c0d0 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/ConfigurationParameters.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/ConfigurationParameters.pb-c.h
@@ -68,10 +68,26 @@ struct  _ConfigurationParameters
   protobuf_c_boolean startheatingoninitsequence;
   size_t n_generalparameters;
   double *generalparameters;
+  protobuf_c_boolean has_currentalarmlowlimit;
+  double currentalarmlowlimit;
+  protobuf_c_boolean has_currentalarmhighlimit;
+  double currentalarmhighlimit;
+  protobuf_c_boolean has_ids_segmentrefilltimeout;
+  double ids_segmentrefilltimeout;
+  protobuf_c_boolean has_ids_presegmentbuilduptime;
+  double ids_presegmentbuilduptime;
+  protobuf_c_boolean has_ids_cleaningspeed;
+  double ids_cleaningspeed;
+  protobuf_c_boolean has_ids_cleaningstopbeforesegmenttime;
+  double ids_cleaningstopbeforesegmenttime;
+  protobuf_c_boolean has_ids_leftcleaningmotorspeed;
+  double ids_leftcleaningmotorspeed;
+  protobuf_c_boolean has_ids_rightcleaningmotorspeed;
+  double ids_rightcleaningmotorspeed;
 };
 #define CONFIGURATION_PARAMETERS__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&configuration_parameters__descriptor) \
-    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,NULL }
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,NULL, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
 
 
 /* ConfigurationParameters methods */
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 d624cee6a..a47ff627b 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
@@ -52,7 +52,7 @@ void   job_ticket__free_unpacked
   assert(message->base.descriptor == &job_ticket__descriptor);
   protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
 }
-static const ProtobufCFieldDescriptor job_ticket__field_descriptors[11] =
+static const ProtobufCFieldDescriptor job_ticket__field_descriptors[12] =
 {
   {
     "Guid",
@@ -186,9 +186,22 @@ static const ProtobufCFieldDescriptor job_ticket__field_descriptors[11] =
     0,             /* flags */
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
+  {
+    "EnableLubrication",
+    12,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(JobTicket, has_enablelubrication),
+    offsetof(JobTicket, enablelubrication),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
 };
 static const unsigned job_ticket__field_indices_by_name[] = {
   2,   /* field[2] = EnableInterSegment */
+  11,   /* field[11] = EnableLubrication */
   0,   /* field[0] = Guid */
   3,   /* field[3] = InterSegmentLength */
   10,   /* field[10] = JobDescriptionFile */
@@ -203,7 +216,7 @@ static const unsigned job_ticket__field_indices_by_name[] = {
 static const ProtobufCIntRange job_ticket__number_ranges[1 + 1] =
 {
   { 1, 0 },
-  { 0, 11 }
+  { 0, 12 }
 };
 const ProtobufCMessageDescriptor job_ticket__descriptor =
 {
@@ -213,7 +226,7 @@ const ProtobufCMessageDescriptor job_ticket__descriptor =
   "JobTicket",
   "",
   sizeof(JobTicket),
-  11,
+  12,
   job_ticket__field_descriptors,
   job_ticket__field_indices_by_name,
   1,  job_ticket__number_ranges,
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 6e6794e63..bf75643a9 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
@@ -48,10 +48,12 @@ struct  _JobTicket
   protobuf_c_boolean has_uploadstrategy;
   JobUploadStrategy uploadstrategy;
   char *jobdescriptionfile;
+  protobuf_c_boolean has_enablelubrication;
+  protobuf_c_boolean enablelubrication;
 };
 #define JOB_TICKET__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&job_ticket__descriptor) \
-    , NULL, NULL, 0, 0, 0, 0, 0, 0, NULL, 0, JOB_WINDING_METHOD__Embroidery, NULL, 0,NULL, 0, JOB_UPLOAD_STRATEGY__Default, NULL }
+    , NULL, NULL, 0, 0, 0, 0, 0, 0, NULL, 0, JOB_WINDING_METHOD__Embroidery, NULL, 0,NULL, 0, JOB_UPLOAD_STRATEGY__Default, NULL, 0, 0 }
 
 
 /* JobTicket methods */
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 3b62a0489..1b5f000f2 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -5,6 +5,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <driverlib/gpio.h>
+#include "common/report/report.h"
 
 //#define EVALUATION_BOARD // to use the LCD only when using the evaluation board
 //#define USE_USB
@@ -128,8 +129,7 @@ enum
 
 #define DOUBLE_BUFFER 2
 
-#define No_Safety_Event       1
-#define Safety_Event_Occurred 0
+
 
 #define CurrentMotDriver 0x08
 #define VoltageMotDriver 0x00
@@ -141,6 +141,8 @@ enum
 
 //#define FPGA_Reg_Size_Bits 16
 
+#define FPGA_Freq 29166667
+
 #define MIDTANK_DIRECTION 0
 #define MIXER_DIRECTION   1
 
@@ -294,6 +296,9 @@ typedef union
 #define LIMIT    0 // Limit Switch
 #define NO_LIMIT 1
 
+#define No_Safety_Event       1
+#define Safety_Event_Occurred 0
+
 //#define INVERSION_POLARITY_LIMIT    1 // Limit Switch
 //#define INVERSION_POLARITY_NO_LIMIT 0
 
@@ -396,4 +401,20 @@ Supports diagnostic <id> (--diag_suppress, - pds)
 #define MIXER_PT100 TEMP_SENSE_ANALOG_MIXCHIP_TEMP
 
 
+extern PackageHandle ControlFilter;
+extern PackageHandle HeatersFilter;
+extern PackageHandle JobFilter  ;
+extern PackageHandle WasteFilter  ;
+extern PackageHandle AlarmFilter  ;
+extern PackageHandle DiagnosticsFilter;
+extern PackageHandle IDSFilter;
+extern PackageHandle ThreadFilter;
+extern PackageHandle GeneralFilter;
+extern PackageHandle CommFilter;
+extern PackageHandle FPGAFilter;
+extern PackageHandle LoadFilter;
+extern PackageHandle InitFilter;
+extern PackageHandle MaintFilter;
+
+
 #endif /* DATADEF_H */
diff --git a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
index 9518e9791..b9d8ee1f6 100644
--- a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
@@ -91,26 +91,26 @@ void ADCAcquireStop(void) //MillisecStop
 // Physical ADC connected channels in the TIVA
 //*****************************************************************************
 
-#define CHAN_AIR_PRESSURE_1         0//ADC_CTL_CH0
-#define CHAN_AIR_PRESSURE_2         1//ADC_CTL_CH1
-#define CHAN_DISPENSE_PRESSURE_1    2//ADC_CTL_CH2
-#define CHAN_DISPENSE_PRESSURE_2    3//ADC_CTL_CH3
-#define CHAN_DISPENSE_PRESSURE_3    4//ADC_CTL_CH4
-#define CHAN_DISPENSE_PRESSURE_4    5//ADC_CTL_CH5
-#define CHAN_DISPENSE_PRESSURE_5    6//ADC_CTL_CH6
-#define CHAN_DISPENSE_PRESSURE_6    7//ADC_CTL_CH7
-#define CHAN_DISPENSE_PRESSURE_7    8//ADC_CTL_CH8
-#define CHAN_DISPENSE_PRESSURE_8    9//ADC_CTL_CH9
-#define CHAN_VOCSENS                10//ADC_CTL_CH10
-#define CHAN_SPARE1                 11//ADC_CTL_CH11
-#define CHAN_SPARE2                 12//ADC_CTL_CH12
-#define CHAN_LEFT_DANCER_1          13//ADC_CTL_CH13
-#define CHAN_LEFT_DANCER_2          14//ADC_CTL_CH14
-#define CHAN_RIGHT_DANCER           15//ADC_CTL_CH15
-#define CHAN_DRYER_CURRENT_2        16//ADC_CTL_CH16 //Dryer  Heater 2
-#define CHAN_DRYER_CURRENT_1        17//ADC_CTL_CH17 //Dryer  Heater 1
-#define CHAN_DRYER_CURRENT_3        18//ADC_CTL_CH18
-#define CHAN_3V3_FPGA               19//ADC_CTL_CH19
+#define CHAN_AIR_PRESSURE_1         ADC_CTL_CH0
+#define CHAN_AIR_PRESSURE_2         ADC_CTL_CH1
+#define CHAN_DISPENSE_PRESSURE_1    ADC_CTL_CH2
+#define CHAN_DISPENSE_PRESSURE_2    ADC_CTL_CH3
+#define CHAN_DISPENSE_PRESSURE_3    ADC_CTL_CH4
+#define CHAN_DISPENSE_PRESSURE_4    ADC_CTL_CH5
+#define CHAN_DISPENSE_PRESSURE_5    ADC_CTL_CH6
+#define CHAN_DISPENSE_PRESSURE_6    ADC_CTL_CH7
+#define CHAN_DISPENSE_PRESSURE_7    ADC_CTL_CH8
+#define CHAN_DISPENSE_PRESSURE_8    ADC_CTL_CH9
+#define CHAN_VOCSENS                ADC_CTL_CH10
+#define CHAN_SPARE1                 ADC_CTL_CH11
+#define CHAN_SPARE2                 ADC_CTL_CH12
+#define CHAN_LEFT_DANCER_1          ADC_CTL_CH13
+#define CHAN_LEFT_DANCER_2          ADC_CTL_CH14
+#define CHAN_RIGHT_DANCER           ADC_CTL_CH15
+#define CHAN_DRYER_CURRENT_2        ADC_CTL_CH16 //Dryer  Heater 2
+#define CHAN_DRYER_CURRENT_1        ADC_CTL_CH17 //Dryer  Heater 1
+#define CHAN_DRYER_CURRENT_3        ADC_CTL_CH18
+#define CHAN_3V3_FPGA               ADC_CTL_CH19
 /*
 Connected with pull down to reg GND ADC_CTL_CH20
 Connected with pull down to reg GND ADC_CTL_CH21
@@ -129,7 +129,7 @@ config as Digital input from FPGA 3 ADC_CTL_CH23
 //*****************************************************************************
 
 
-uint32_t g_pui32ADCSeq[MAX_ADC_DEVICES] =
+uint32_t g_pui32ADCSeq[ADC_MAX_ADC_DEVICES] =
 {
  CHAN_AIR_PRESSURE_1,      //0
  CHAN_AIR_PRESSURE_2,      //1
@@ -155,7 +155,7 @@ uint32_t g_pui32ADCSeq[MAX_ADC_DEVICES] =
 
 //#define NUM_ADC_CHANNELS        (sizeof(g_pui32ADCSeq) /                      \
                                  sizeof(g_pui32ADCSeq[0]))
-int DispenserIdToPressureSensorId[MAX_DISPENSERS] = {CHAN_DISPENSE_PRESSURE_1, CHAN_DISPENSE_PRESSURE_2 , CHAN_DISPENSE_PRESSURE_3 , CHAN_DISPENSE_PRESSURE_4 , CHAN_DISPENSE_PRESSURE_5 , CHAN_DISPENSE_PRESSURE_6 , CHAN_DISPENSE_PRESSURE_7 , CHAN_DISPENSE_PRESSURE_8 };
+int DispenserIdToPressureSensorId[MAX_DISPENSERS] = {ADC_DISPENSE_PRESSURE_1, ADC_DISPENSE_PRESSURE_2 , ADC_DISPENSE_PRESSURE_3 , ADC_DISPENSE_PRESSURE_4 , ADC_DISPENSE_PRESSURE_5 , ADC_DISPENSE_PRESSURE_6 , ADC_DISPENSE_PRESSURE_7 , ADC_DISPENSE_PRESSURE_8 };
 
 //const uint8_t Num_ADC_Channels = ( sizeof(g_pui32ADCSeq) / sizeof(g_pui32ADCSeq[0]) );
 
@@ -176,7 +176,7 @@ static int bufferFlipFlop = 0;
 // A buffer to hold one set of ADC data that is acquired per sample time.
 //
 //*****************************************************************************
-static uint32_t g_pui32ADCData[DOUBLE_BUFFER][MAX_ADC_DEVICES];
+static uint32_t g_pui32ADCData[DOUBLE_BUFFER][ADC_MAX_ADC_DEVICES];
 
 //*****************************************************************************
 //configured in the cfg file and thats why should be defined as extern
@@ -209,10 +209,10 @@ uint32_t ADC_TriggerCollection(void) // (called by MillisecLoop)
 // ADC Data get for a single data read
 //
 //*****************************************************************************
-uint32_t ADC_GetReading(int DataItemId) // 0 - 19  // ADC Data get for a single data read
+uint32_t ADC_GetReading(ADC_TYPE DataItemId) // 0 - 19  // ADC Data get for a single data read
 {
     int bufnotinuse;
-    assert (DataItemId<MAX_ADC_DEVICES);
+    assert (DataItemId<ADC_MAX_ADC_DEVICES);
 
     if (bufferFlipFlop == 0)  bufnotinuse = 1;
     else  bufnotinuse = 0;
@@ -299,7 +299,7 @@ void ADCAcquireInit(void) // (called by MillisecInit)
     // acquire the data for the data logger.  Multiple ADC and sequencers
     // will be used in order to acquire all the channels.
     //
-    for(ui32Chan = 0; ui32Chan < MAX_ADC_DEVICES; ui32Chan++)
+    for(ui32Chan = 0; ui32Chan < ADC_MAX_ADC_DEVICES; ui32Chan++)
     {
         //
         // If this is the first ADC then set the base for ADC0
@@ -332,7 +332,7 @@ void ADCAcquireInit(void) // (called by MillisecInit)
         //
         uint32_t ui32ChCtl = g_pui32ADCSeq[ui32Chan];
         //TODO define all the numbers under #define and not here
-        if((ui32Chan == 7) || (ui32Chan == 15)  || (ui32Chan == (MAX_ADC_DEVICES - 1)))
+        if((ui32Chan == 7) || (ui32Chan == 15)  || (ui32Chan == (ADC_MAX_ADC_DEVICES - 1)))
         {
             ui32ChCtl |= ADC_CTL_IE | ADC_CTL_END;
         }
@@ -432,7 +432,7 @@ double  Calculate_Pitot_Pressure() // WHS - AN_AIRPRESS_1
 
     double Pressure = 0.0, temp, PKpa,PBar,VADC = 0.0 ,VSensor,PMicroBar;
 
-    VsampleInBits = ADC_GetReading(CHAN_AIR_PRESSURE_1);
+    VsampleInBits = ADC_GetReading(ADC_AIR_PRESSURE_1);
 
     //---- VBits -> VADC ----
 
@@ -518,7 +518,7 @@ uint8_t  Calculate_Gas_Power_Consumption() // WHS
 
     uint8_t PPM = sizeof(VOC_Vsensor) / sizeof(VOC_Vsensor[0]), i;
 
-    VsampleInBits = ADC_GetReading(CHAN_VOCSENS);
+    VsampleInBits = ADC_GetReading(ADC_VOCSENS);
 
     //---- VBits -> VADC ----
 
@@ -582,18 +582,18 @@ uint32_t Read_Dryer_Heaters_Current(HEATERS_CURRENT Heater_ID) //
 
     switch(Heater_ID)
     {
-        case DRYER_CURRENT_1:
-                temp = ADC_GetReading(CHAN_DRYER_CURRENT_1);//ADC_CTL_CH17
+        case HEATER_DRYER_CURRENT_1:
+                temp = ADC_GetReading(ADC_DRYER_CURRENT_1);//ADC_CTL_CH17
                 R = 50;//50 Ohm
                 //Expected 8A
             break;
-        case DRYER_CURRENT_2:
-                temp = ADC_GetReading(CHAN_DRYER_CURRENT_2);//ADC_CTL_CH16
+        case HEATER_DRYER_CURRENT_2:
+                temp = ADC_GetReading(ADC_DRYER_CURRENT_2);//ADC_CTL_CH16
                 R = 100;//100 Ohm
                 //Expected 4A
             break;
 //        case DRYER_CURRENT_3:
-//                temp = ADC_GetReading(CHAN_DRYER_CURRENT_3);//Not in use
+//                temp = ADC_GetReading(ADC_DRYER_CURRENT_3);//Not in use
 //            break;
         default:
                 return ERROR;
diff --git a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.h b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.h
index bacbe0a0d..7f2601fb1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.h
+++ b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.h
@@ -12,7 +12,32 @@
 // ADC copied data
 //*****************************************************************************
 
-#define  MAX_ADC_DEVICES 20
+typedef enum
+{
+    ADC_AIR_PRESSURE_1      ,//0
+    ADC_AIR_PRESSURE_2      ,//1
+    ADC_DISPENSE_PRESSURE_1 ,//2
+    ADC_DISPENSE_PRESSURE_2 ,//3
+    ADC_DISPENSE_PRESSURE_3 ,//4
+    ADC_DISPENSE_PRESSURE_4 ,//5
+    ADC_DISPENSE_PRESSURE_5 ,//6
+    ADC_DISPENSE_PRESSURE_6 ,//7
+    ADC_DISPENSE_PRESSURE_7 ,//8
+    ADC_DISPENSE_PRESSURE_8 ,//9
+    ADC_VOCSENS             ,//10
+    ADC_SPARE1              ,//11
+    ADC_SPARE2              ,//12
+    ADC_LEFT_DANCER_1       ,//13
+    ADC_LEFT_DANCER_2       ,//14
+    ADC_RIGHT_DANCER        ,//15
+    ADC_DRYER_CURRENT_2     ,//16
+    ADC_DRYER_CURRENT_1     ,//17
+    ADC_DRYER_CURRENT_3     ,//18
+    ADC_FPGA_3V3            ,//19
+    ADC_MAX_ADC_DEVICES     ,//20
+}ADC_TYPE;
+
+//#define  MAX_ADC_DEVICES 20
 #define MAX_DISPENSERS
 
 //#define MAX_ADC_DEVICES NUM_ADC_CHANNELS
@@ -26,7 +51,7 @@ void ADCAcquireInit(void);
 
 uint32_t ADC_TriggerCollection(void);
 
-uint32_t ADC_GetReading(int DataItemId);
+uint32_t ADC_GetReading(ADC_TYPE DataItemId);
 
 void ADCAcquireStart(ProcessCallback _callback, uint32_t _period);
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
index 0b98891c5..aff2e7cd1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
@@ -18,21 +18,23 @@
 
 unsigned short GPO_01_Reg;
 
+extern F3_GPO_01_REG F3_GPO_01_Reg;
+
 int FPGA_Test()
 {
-    GP_Out_01 Gpo_01;
 
-    Gpo_01.bits.F3_LUBRICANT_VALVE = 1;
-    Gpo_01.bits.F3_GPO_LED3 = 1;
-    Gpo_01.bits.F3_GPO_LED2 = 0;
-    Gpo_01.bits.F3_GPO_LED1 = 1;
-    Gpo_01.bits.F3_GPO_EXTWINDER_SSR11_CTRL = 1;
-    Gpo_01.bits.F3_GPO_BUZZER = 0;
-    Gpo_01.bits.F3_SPARE2_ROTENC_CLK = 1;
-    Gpo_01.bits.F3_SPARE1_ROTENC_CLK = 1;
-    Gpo_01.bits.RESERVE = 0xF5;
 
-    GPO_01_Reg = Gpo_01.ushort;
+    F3_GPO_01_Reg.bits.F3_LUBRICANT_VALVE = 1;
+    F3_GPO_01_Reg.bits.F3_GPO_LED3 = 1;
+    F3_GPO_01_Reg.bits.F3_GPO_LED2 = 0;
+    F3_GPO_01_Reg.bits.F3_GPO_LED1 = 1;
+    F3_GPO_01_Reg.bits.F3_GPO_EXTWINDER_SSR11_CTRL = 1;
+    F3_GPO_01_Reg.bits.F3_GPO_BUZZER = 0;
+    F3_GPO_01_Reg.bits.F3_SPARE2_ROTENC_CLK = 1;
+    F3_GPO_01_Reg.bits.F3_SPARE1_ROTENC_CLK = 1;
+    F3_GPO_01_Reg.bits.RESERVE = 0xF5;
+
+    GPO_01_Reg = F3_GPO_01_Reg.ushort;
 
     return 0;
 }
@@ -202,14 +204,14 @@ uint8_t Read_Fans_Tacho()
 #ifndef EVALUATION_BOARD
 
     // The big Fan in the drawer
-    Fans_Speed_RPM[DRAWER_B]  = Calculate_Tacho_Fan_Speed(29166666, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg0);
-    Fans_Speed_RPM[DRAWER_S0] = Calculate_Tacho_Fan_Speed(29166666, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg1);
-    Fans_Speed_RPM[DRAWER_S1] = Calculate_Tacho_Fan_Speed(29166666, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg2);
-    Fans_Speed_RPM[DRAWER_S2] = Calculate_Tacho_Fan_Speed(29166666, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg3);
-    Fans_Speed_RPM[DRAWER_S3] = Calculate_Tacho_Fan_Speed(29166666, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg4);
-    Fans_Speed_RPM[SYSTEM_0]  = Calculate_Tacho_Fan_Speed(29166666, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg5);
-    Fans_Speed_RPM[SYSTEM_1]  = Calculate_Tacho_Fan_Speed(29166666, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg6);
-    Fans_Speed_RPM[SYSTEM_2]  = Calculate_Tacho_Fan_Speed(29166666, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg7);
+    Fans_Speed_RPM[DRAWER_B]  = Calculate_Tacho_Fan_Speed(FPGA_Freq, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg0);
+    Fans_Speed_RPM[DRAWER_S0] = Calculate_Tacho_Fan_Speed(FPGA_Freq, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg1);
+    Fans_Speed_RPM[DRAWER_S1] = Calculate_Tacho_Fan_Speed(FPGA_Freq, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg2);
+    Fans_Speed_RPM[DRAWER_S2] = Calculate_Tacho_Fan_Speed(FPGA_Freq, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg3);
+    Fans_Speed_RPM[DRAWER_S3] = Calculate_Tacho_Fan_Speed(FPGA_Freq, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg4);
+    Fans_Speed_RPM[SYSTEM_0]  = Calculate_Tacho_Fan_Speed(FPGA_Freq, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg5);
+    Fans_Speed_RPM[SYSTEM_1]  = Calculate_Tacho_Fan_Speed(FPGA_Freq, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg6);
+    Fans_Speed_RPM[SYSTEM_2]  = Calculate_Tacho_Fan_Speed(FPGA_Freq, 0X02, F1_Prescaler1_reg5, F1_Tacho_reg7);
 
     if( Fans_Speed_RPM[DRAWER_B] < 1000 )  // need to work around 3000 RPM
         Fans_Status.bit.DRAWER_BIG = ERROR;// not working / Low Speed
@@ -342,7 +344,7 @@ uint32_t Read_Dryer_Fan_Tacho()
 
     uint32_t Drayer_Fan_Speed_RPM = 0;
 
-    Drayer_Fan_Speed_RPM = Calculate_Tacho_Fan_Speed(29166666, 12, F1_Prescaler1_reg5, F1_Tacho_reg8);
+    Drayer_Fan_Speed_RPM = Calculate_Tacho_Fan_Speed(FPGA_Freq, 12, F1_Prescaler1_reg5, F1_Tacho_reg8);
 
 
     return Drayer_Fan_Speed_RPM;
@@ -398,3 +400,29 @@ void Machine_Idle_Breathing_Led() //if (Ten_msTick)
     }
 }
 
+///////////////////////////////////////// Speed_Sensor_TypeII ////////////////////////////////////////////////
+void Set_Speed_Sensor_TypeII_Registers(uint32_t Counter, uint32_t Prescaler)
+{
+    /* Counter  -   Increase the number to higher resolution *
+     * Prescaler  - Deccrease the number to higher resolution*/
+    F1_Prescaler1_reg6 = Prescaler;
+    F1_gpo_cnt_A_reg   = Counter;
+}
+
+uint32_t Read_Speed_Sensor_TypeII()//must be delay between Set_Speed_Sensor_TypeII_Registers to Read_Speed_Sensor_TypeII
+{
+
+    uint32_t Speed_Hz, temp, temp1;
+
+    temp = F1_Tacho_reg9;
+    temp1 = FPGA_Freq;
+    temp1*=F1_gpo_cnt_A_reg;
+    temp1/=temp;
+    temp1/=F1_Prescaler1_reg6;
+    Speed_Hz = temp1;
+
+    #warning change the speed from Hz to Cm/Sec
+
+    return Speed_Hz;
+}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
index 1c2bbfb1a..0e5cdb66a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.h
@@ -16,6 +16,7 @@ void Machine_Idle_Breathing_Led();
 
 uint32_t Read_Dryer_Fan_Tacho();
 
-
+void Set_Speed_Sensor_TypeII_Registers(uint32_t Counter, uint32_t Prescaler);
+uint32_t Read_Speed_Sensor_TypeII();
 
 #endif //FPGA_H
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
index 752773c0d..614f2affa 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
@@ -147,9 +147,9 @@
 #define F1_LDANCER1_ROTENC_DATA_p_TX           (*((volatile short  *)(FPGA1_BASE | 0x1CE)))    //This register triggers a TX transmission
 
 //FPGA VER 050219
-#define  F1_GPO_02_bus                         (*((volatile short  *)(FPGA3_BASE | 0x1D0))) //General purpose GPIO register
-#define  F1_Tacho_reg8                         (*((volatile short  *)(FPGA3_BASE | 0x1E0))) //This Register stores the Tacho counter
-#define  F1_Tacho_reg9                         (*((volatile short  *)(FPGA3_BASE | 0x1E2))) //This Register stores the Tacho counter A to A
+#define  F1_GPO_02_bus                         (*((volatile short  *)(FPGA1_BASE | 0x1D0))) //General purpose GPIO register
+#define  F1_Tacho_reg8                         (*((volatile short  *)(FPGA1_BASE | 0x1E0))) //This Register stores the Tacho counter
+#define  F1_Tacho_reg9                         (*((volatile short  *)(FPGA1_BASE | 0x1E2))) //This Register stores the Tacho counter A to A
 //
 //SPI_MOTO_RLOADING_A1
 #define F1_MOTO_RLOADING_A1_TX_00              (*((volatile short  *)(FPGA1_BASE | 0x200)))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
@@ -282,6 +282,10 @@
 #define F1_Tacho_reg6                          (*((volatile short  *)(FPGA1_BASE | 0x3CC)))    //This Register stores the Tacho counter
 #define F1_Tacho_reg7                          (*((volatile short  *)(FPGA1_BASE | 0x3CE)))    //This Register stores the Tacho counter
 
+//read SSR10
+#define F1_CTRL_bus1_reg                       (*((volatile short  *)(FPGA1_BASE | 0x3A0))) //This Register stores the ssr with n_heater_wd_expire value - read of the value of F1_GPO_DILUTORPUMP_SSR10_CTRL
+
+
 //GPO
 #define F1_gpo_01                              (*((volatile short  *)(FPGA1_BASE | 0x3D2)))    //Gpo Register Miscellaneous output register, 16bits
 
@@ -372,6 +376,9 @@
 //Watchdog
 #define F2_Watchdog_reg                        (*((volatile short  *)(FPGA2_BASE | 0x140)))//Watchdog enable bit, watchdog value
 
+//read SSR1 - SSR9
+#define F2_CTRL_bus1_reg                       (*((volatile short  *)(FPGA2_BASE | 0x170))) //This Register stores the ssr with n_heater_wd_expire value - read of the value of SSR1 - SSR9
+
 //SSI
 #define F2_DISPENSER_ROTENC_DATA_p_1_RX_lsb    (*((volatile short  *)(FPGA2_BASE | 0x180))) //The 16 Lsb bits of the shifted in data.
 #define F2_DISPENSER_ROTENC_DATA_p_1_RX_msb    (*((volatile short  *)(FPGA2_BASE | 0x182))) //16 bit MSB if nessesary
@@ -705,8 +712,11 @@
 #define  F3_high_var_SPARE2_1                  (*((volatile short  *)(FPGA3_BASE | 0x3AA))) //Parameter for prescaler divisions - 8bit  high duty cycle value for pmw
 #define  F3_low_var_SPARE2_2                   (*((volatile short  *)(FPGA3_BASE | 0x3AC))) //Parameter for prescaler divisions - 8bit low duty cycle value for pmw
 #define  F3_high_var_SPARE2_2                  (*((volatile short  *)(FPGA3_BASE | 0x3AE))) //Parameter for prescaler divisions - 8bit  high duty cycle value for pmw
-//
 
+//read SSR11
+#define F3_CTRL_bus1_reg                       (*((volatile short  *)(FPGA3_BASE | 0x3B0))) //This Register stores the ssr with n_heater_wd_expire value - read of the value of F3_GPO_EXTWINDER_SSR11_CTRL
+
+//
 #define F3_Prescaler1_reg9                     (*((volatile short  *)(FPGA3_BASE | 0x3C2))) //Variable for prescaler divisions -amount of prescaled clocks clk input of prescaler of signal debouncer of the limit switch. 14bits. The value inserted here is multiply by 8 before being set.
 #define F3_SW_RESET_reg                        (*((volatile short  *)(FPGA3_BASE | 0x3D0))) //This register resets the MCU
 
@@ -741,6 +751,19 @@
 #define  F3_LOw_Cart_Led3      F3_low_var_SPARE2_2
 #define  F3_High_Cart_Led3     F3_high_var_SPARE2_2
 
+//F3_GPI_02_Direct
+typedef union
+{
+    struct
+    {
+        bool F3_GPI_TACTSW4                 : 1; //0
+        bool F3_GPI_TACTSW3                 : 1; //1
+        bool Thread_Jogging_Switch          : 1; //2 (F3_GPI_TACTSW2)
+        bool Thread_Load_Switch             : 1; //3 (F3_GPI_TACTSW1)
+        unsigned short F3_GPI_02_RESERVE    : 12; //4-16
+    }bits;
+    unsigned short ushort;
+}F3_GPI_02;
 
 //1 Version1_Direct
 typedef union
@@ -1075,7 +1098,7 @@ typedef union
         unsigned char RESERVE; // 8-15
     }bits;
     unsigned short ushort;
-}GP_Out_01;
+}F3_GPO_01_REG;
 
 //F3_VALVE_OUT
 typedef union
@@ -1281,7 +1304,7 @@ typedef union
 #define DYEINGH_SSR11_CTRL BIT4 //HeadHeaterZ6
 
 
-/*
+
 //F2_CTRL
 typedef union
 {
@@ -1299,15 +1322,15 @@ typedef union
         bool F2_GPO_DRYER_SSR2_CTRL   : 1; //9
         bool F2_GPO_DRYER_SSR1_CTRL   : 1; //10
         bool F2_GPO_PDOWN_RL1_CTRL    : 1; //11
-        bool RESERVE_BIT12            : 1; //12
-        bool RESERVE_BIT13            : 1; //13
-        bool RESERVE_BIT14            : 1; //14
-        bool RESERVE_BIT15            : 1; //15
+        bool F2_GPO_RESERVE_BIT12     : 1; //12
+        bool F2_GPO_RESERVE_BIT13     : 1; //13
+        bool F2_GPO_RESERVE_BIT14     : 1; //14
+        bool F2_GPO_RESERVE_BIT15     : 1; //15
     }bits;
     unsigned short ushort;
-}F2_CTRL_SSR_REG;
+}F2_CTRL_REG;
+
 
-*/
 //--------------------------------------------------------------------------------
 
 
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 05ad6bf74..a268ad0d5 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
@@ -18,10 +18,14 @@
 
 FPGA_GPI FPGA_Gpi;
 
+extern F2_CTRL_REG F2_CTRL_Reg;
+
 bool FPGA_Gpi_Buf[MAX_GPI] = {0};
 
 extern bool Machine_Idle_Mode;
 
+extern F3_GPO_01_REG F3_GPO_01_Reg;
+
 void Read_FPGA_GPI_Rgisters()
 {
     uint32_t i;
@@ -427,21 +431,24 @@ bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch)
 
 uint32_t ActivateDilutorPump()
 {
-        F2_CTRL |= CHILLER_SSR9_CTRL;
+        F2_CTRL_Reg.ushort |= CHILLER_SSR9_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         return OK;
 }
 
 uint32_t DeActivateDilutorPump()
 {
 
-    F2_CTRL &= ~CHILLER_SSR9_CTRL;
+    F2_CTRL_Reg.ushort &= ~CHILLER_SSR9_CTRL;
+    F2_CTRL = F2_CTRL_Reg.ushort;
     return OK;
 }
 //----------------------------------
 
 void Power_Off()//Power Down
 {
-    F2_CTRL |= PDOWN_RL1_CTRL;
+    F2_CTRL_Reg.ushort |= PDOWN_RL1_CTRL;
+    F2_CTRL = F2_CTRL_Reg.ushort;
 }
 
 void Power_Reset()// Resets the MCU
@@ -455,41 +462,75 @@ void Power_Reset()// Resets the MCU
 
 uint32_t ActivateChiller()
 {
-        F2_CTRL |= SPARE_SSR12_CTRL;
+        F2_CTRL_Reg.ushort |= SPARE_SSR12_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         return OK;
 }
 
 uint32_t DeActivateChiller()
 {
-        F2_CTRL &= ~SPARE_SSR12_CTRL;
+        F2_CTRL_Reg.ushort &= ~SPARE_SSR12_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         return OK;
 }
 
 uint32_t ActivateHeadMagnet()
 {
         Task_sleep(500);
-        F2_CTRL &= ~SPARE_SSR13_CTRL;
+        F2_CTRL_Reg.ushort &= ~SPARE_SSR13_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
+
         return OK;
 }
 
 uint32_t DeActivateHeadMagnet()
 {
-        F2_CTRL |= SPARE_SSR13_CTRL;
+        F2_CTRL_Reg.ushort |= SPARE_SSR13_CTRL;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         Task_sleep(500);
         return OK;
 }
 
 uint32_t ReadHeadMagnetBit()
 {
-        return (F2_CTRL & BIT0);
+        return (F2_CTRL & BIT0);//SSR13 is not in the WD therefore it it possible to read the bit
 }
 
 uint32_t DeActivateAllSSR()
 {
-        F2_CTRL = 0;
+        F2_CTRL_Reg.ushort = 0;
+        F2_CTRL = F2_CTRL_Reg.ushort;
         return OK;
 }
 
+bool Is_FPGA_WD_Occurred()
+{
+    if( (F1_Moto_Driver_NSTBYRST1 != 0xFFFF) ||
+        (F1_Moto_Driver_NSTBYRST2 != 0xFFFF) ||
+        (F2_Moto_Driver_NSTBYRST1 != 0xFFFF) ||
+        (F3_Moto_Driver_NSTBYRST1 != 0xFFFF) )
+    {
+        /*
+           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();
+               //4. Init Motor's Drivers:
+
+               //OR
+
+               //Reset MCU (will reset also the FPGA):
+               Power_Reset();
+         */
+        return true;
+    }
+    else
+        return false;
+
+}
 
 uint32_t Control_WD(bool IsEnable, unsigned char SetTimer_Steps100mSec) // Control_WD(ENABLE, 30);//Enable the watchdog for 3 seconds
 /*
@@ -501,24 +542,28 @@ uint32_t Control_WD(bool IsEnable, unsigned char SetTimer_Steps100mSec) // Contr
  * the control register will take the value it had before to be resetted.
  */
 {
+    uint32_t status = OK;
+
 #ifndef EVALUATION_BOARD
 
     short WD_Enable = 0x4000 | SetTimer_Steps100mSec;
 
     if (IsEnable == DISABLE)
     {
-        F1_Watchdog_reg = 0;
-        F2_Watchdog_reg = 0;
-        F3_Watchdog_reg = 0;
+        F1_Watchdog_reg = 0xFF;//changed from 0 to 0xFF because if the WD expired 0 won't disable the WD must set  (0 <) number (< 0x4000)
+        F2_Watchdog_reg = 0xFF;
+        F3_Watchdog_reg = 0xFF;
     }
     else
     {
+        status |= Is_FPGA_WD_Occurred();
+
         F1_Watchdog_reg = WD_Enable; // Enable the watchdog F3_GPO_01_bus BIT4 DYEINGH_SSR11_CTRL HeadHeaterZ6
         F2_Watchdog_reg = WD_Enable; // Enable the watchdog F2_CTRL + reset dispensers motor drivers
         F3_Watchdog_reg = WD_Enable; // Enable the watchdog F1_gpo_01 BIT2 DYEINGH_SSR10_CTRL HeadHeaterZ5
     }
 #endif
-    return OK;
+    return status;
 }
 
 uint32_t ReadBreakSensor()
@@ -689,19 +734,51 @@ uint8_t Buzzer(OPERATION_MODE Buzzer_Mode)
     switch(Buzzer_Mode)
     {
     case MODE_ON:
-            F3_GPO_01_bus |= BIT5;
+            //F3_GPO_01_bus |= BIT5;
+            F3_GPO_01_Reg.bits.F3_GPO_BUZZER = ON;
         break;
     case MODE_OFF:
-            F3_GPO_01_bus &= ~BIT5;
+            //F3_GPO_01_bus &= ~BIT5;
+            F3_GPO_01_Reg.bits.F3_GPO_BUZZER = OFF;
         break;
     default:
         Status = ERROR;
         break;
     }
 
+    F3_GPO_01_bus = F3_GPO_01_Reg.ushort;
+
     return Status;
 }
 
+
+F3_GPI_02 F3_GPI_02_Reg;
+
+void Read_Buttons_Reg()
+{
+    F3_GPI_02_Reg.ushort = F3_GPI_02_Direct;
+}
+
+bool Get_Thread_Jogging_Button()
+{
+    bool IsThreadJoggingPressed = false;
+
+    if(F3_GPI_02_Reg.bits.Thread_Jogging_Switch == false)
+        IsThreadJoggingPressed = true;
+
+        return IsThreadJoggingPressed;
+}
+
+bool Get_Thread_Load_Button()
+{
+    bool IsThreadLoadPressed = false;
+
+    if(F3_GPI_02_Reg.bits.Thread_Load_Switch == false)
+        IsThreadLoadPressed = true;
+
+        return IsThreadLoadPressed;
+}
+
 bool Read_PWR_Button()//TODO move to GPIO folder
 
 {
@@ -765,13 +842,13 @@ uint8_t Pannel_Leds(PANEL_BUTTON_OR_CRAT_ID Pannel_Led_Id, OPERATION_MODE LED_Mo
                 Machine_Idle_Mode = false;
             break;
         case THREAD_JOGGING:
-                F3_low_var_LED2 = Low_Reg;
-                F3_high_var_LED2 = High_Reg;
-            break;
-        case THREAD_LOAD:
                 F3_low_var_LED3 = Low_Reg;
                 F3_high_var_LED3 = High_Reg;
             break;
+        case THREAD_LOAD:
+                F3_low_var_LED2 = Low_Reg;
+                F3_high_var_LED2 = High_Reg;
+            break;
         case CART_1:
                 F3_LOw_Cart_Led1 = Low_Reg;
                 F3_High_Cart_Led1 = High_Reg;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
index c98ba5941..409f75418 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
@@ -191,6 +191,10 @@ void Power_Reset();
 uint8_t Buzzer(OPERATION_MODE Buzzer_Mode);
 bool Read_PWR_Button();//TODO move to GPIO folder
 
+void Read_Buttons_Reg();
+bool Get_Thread_Jogging_Button();
+bool Get_Thread_Load_Button();
+
 
 uint32_t Control_WD(bool IsEnable, unsigned char SetTimer_Steps100mSec);
 uint32_t ActivateChiller();
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index e8b46084c..26f6d5c56 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -3,9 +3,9 @@
 #include <stdbool.h>
 #include <drivers/FPGA/FPGA_Comm.h>
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
+#include <Drivers/FPGA/Motors_Driver/PowerSTEP01.h>
 #include "FPGA_SPI_Comm.h"
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-#include "drivers/FPGA/Moters_Driver/PowerSTEP01.h"
 #include "Drivers/Motors/Motor.h"
 #include "modules/control/millisecTask.h"
 #include "modules/thread/thread.h"
@@ -371,11 +371,13 @@ int MotorSendFPGARequest(TimerMotors_t MotorId,uint32_t Data, uint32_t Length)
 //    if (MotorDataIndex[MotorId] == 99) MotorDataIndex[MotorId] = 0;
     //if((*FpgaMotMap[MotorId].NBUSY == NOTBUSY) && (*FpgaMotMap[MotorId].SPI_Busy == NOTBUSY))
     {
+        ROM_IntMasterDisable();
         Int2Short.uint = Data;
 
         *FpgaMotMap[MotorId].TX_01 = Int2Short.ushort.MSB;
         *FpgaMotMap[MotorId].TX_00 = Int2Short.ushort.LSB;
         //*FpgaMotMap[MotorId].WORDS = Length;
+        ROM_IntMasterEnable();
 
         return OK;
     }
@@ -794,7 +796,7 @@ void FPGA_SetMotMicroStep(TimerMotors_t _motorId)//
 
     for (i = 0; i < 8; i++)
     {
-        if (MotorsCfg[_motorId].microstep == MultiStep[i])
+        if (MotorDriverRequest[_motorId].microstep == MultiStep[i])
         {
             good = i;
             break;
@@ -929,8 +931,73 @@ void FPGA_SetMotStop(TimerMotors_t _motorId)
 //    FPGA_SPI_Transnit(_motorId);
 }
 
+void FPGA_SetMotKvalHold(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+
+    temp = x_SET_PARAM | x_KVAL_HOLD;
+    temp = temp << 24;
+
+    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalHold > 0x7F))
+        MotorDriverRequest[_motorId].KvalHold = 0x7F;
+
+    temp |= MotorDriverRequest[_motorId].KvalHold<<16;
 
+    Fpga_Spi[_motorId].TX_MOSI = temp;
+    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    FPGA_SPI_Transnit(_motorId);
+}
 
+void FPGA_SetMotKvalRun(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+
+    temp = x_SET_PARAM | x_KVAL_RUN;
+    temp = temp << 24;
+
+    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalRun > 0x7F))
+        MotorDriverRequest[_motorId].KvalRun = 0x7F;
+
+    temp |= MotorDriverRequest[_motorId].KvalRun<<16;
+
+    Fpga_Spi[_motorId].TX_MOSI = temp;
+    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    FPGA_SPI_Transnit(_motorId);
+}
+
+void FPGA_SetMotKvalAcc(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+
+    temp = x_SET_PARAM | x_KVAL_ACC;
+    temp = temp << 24;
+
+    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalAcc > 0x7F))
+        MotorDriverRequest[_motorId].KvalAcc = 0x7F;
+
+    temp |= MotorDriverRequest[_motorId].KvalAcc<<16;
+
+    Fpga_Spi[_motorId].TX_MOSI = temp;
+    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    FPGA_SPI_Transnit(_motorId);
+}
+
+void FPGA_SetMotKvalDec(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+
+    temp = x_SET_PARAM | x_KVAL_DEC;
+    temp = temp << 24;
+
+    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalDec > 0x7F))
+        MotorDriverRequest[_motorId].KvalDec = 0x7F;
+
+    temp |= MotorDriverRequest[_motorId].KvalDec<<16;
+
+    Fpga_Spi[_motorId].TX_MOSI = temp;
+    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    FPGA_SPI_Transnit(_motorId);
+}
 
 ///////////////////////////////////////////////////////////////////////////////
 /*
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
index cc9d85cca..e2937e597 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
@@ -27,6 +27,11 @@ void FPGA_SetMotPosition(TimerMotors_t _motorId);
 void FPGA_SetMotSpeed(TimerMotors_t _motorId);
 void FPGA_SetMotSpeedDirect(TimerMotors_t _motorId);
 
+void FPGA_SetMotKvalHold(TimerMotors_t _motorId);
+void FPGA_SetMotKvalRun(TimerMotors_t _motorId);
+void FPGA_SetMotKvalAcc(TimerMotors_t _motorId);
+void FPGA_SetMotKvalDec(TimerMotors_t _motorId);
+
 void FPGA_SetMotorsInit();
 uint32_t FPGA_MotorConfig(TimerMotors_t _motorId, MotorDriverConfigStruc *MotorConfig);
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/ispvm_ui.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/ispvm_ui.c
index c216b9aad..0286d53a7 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/ispvm_ui.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/ispvm_ui.c
@@ -39,6 +39,7 @@
 ***************************************************************/
 
 
+#include "Include.h"
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -53,6 +54,8 @@
 
 FILE * g_pVMEFile = NULL;
 
+uint32_t vme_index = 0;
+
 /***************************************************************
 *
 * Functions declared in this ispvm_ui.c module
@@ -212,7 +215,11 @@ unsigned char GetByte()
 
 
 		}
-		/***************************************************************
+        else
+        {
+            vme_index++;
+        }
+	    /***************************************************************
 		*
 		* Calculate the 32-bit CRC if the expected CRC exist.
 		*
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/ivm_core.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/ivm_core.c
index 62a2b3b0e..32de190ac 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/ivm_core.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/ivm_core.c
@@ -23,6 +23,7 @@
 * 
 ***************************************************************/
 
+#include "Include.h"
 #include <stdio.h>
 #include <string.h>
 #include "vmopcode.h"
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/vmopcode.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/vmopcode.h
index cdd05fd12..c3873d968 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/vmopcode.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/vmopcode.h
@@ -206,3 +206,6 @@ typedef struct {
 	unsigned short usNegativeIndex;
 	unsigned char  ucUpdate;
 } LVDSPair;
+
+extern uint32_t vme_index;
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/L6470.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/Motors_Driver/L6470.c
index cd0b09b93..f92278657 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/L6470.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Motors_Driver/L6470.c
@@ -7,6 +7,7 @@
 //#include "graphics_adapter.h"
 //#include "Embedded/include.h"
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include <stdint.h>
 #include <stdbool.h>
 #include "drivers/SPI/SPI_Comm.h"
@@ -18,9 +19,6 @@
 
 //////////////
 //#include "stdafx.h"
-#include "L6470.h"
-//#include "FPGA_Comm.h"
-// To use time library of C
 #include <time.h>
 
 //int volatile * const MOSI_Reg = (int *)MOSI_BASE;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/L6470.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/Motors_Driver/L6470.h
index 745a7f753..745a7f753 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/L6470.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Motors_Driver/L6470.h
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/PowerSTEP01.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/Motors_Driver/PowerSTEP01.h
index bf1fe91d5..ab99cc340 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/PowerSTEP01.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Motors_Driver/PowerSTEP01.h
@@ -7,8 +7,8 @@
  *      Author: avi
  */
 
-#ifndef DRIVERS_FPGA_MOTERS_DRIVER_POWERSTEP01_H_
-#define DRIVERS_FPGA_MOTERS_DRIVER_POWERSTEP01_H_
+#ifndef DRIVERS_FPGA_MOTORS_DRIVER_POWERSTEP01_H_
+#define DRIVERS_FPGA_MOTORS_DRIVER_POWERSTEP01_H_
 
 
 //powerSTEP01
@@ -165,4 +165,4 @@ typedef enum {
   POWERSTEP01_TDT_4000ns  = (((uint8_t)0x1F)<<POWERSTEP01_TDT_SHIFT)
 } powerstep01_Tdt_t;
 
-#endif /* DRIVERS_FPGA_MOTERS_DRIVER_POWERSTEP01_H_ */
+#endif /* DRIVERS_FPGA_MOTORS_DRIVER_POWERSTEP01_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
index 0c44ef71e..14c548f2a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
@@ -38,6 +38,10 @@ typedef struct
 
 uint32_t HeaterActive = 0;
 
+extern F2_CTRL_REG F2_CTRL_Reg;
+extern F1_GPO_REG F1_GPO_Reg;
+extern F3_GPO_01_REG F3_GPO_01_Reg;
+
 static GPIOIntPortMap portMap[MAX_HEATERS_NUM] =
 {
     {DRYER_SSR3_CTRL,    false},  // HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature  **** Not connected ****
@@ -67,15 +71,23 @@ uint32_t ActivateHeater (int HeaterId)
 #ifndef EVALUATION_BOARD
     if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5)
     {
-        F1_gpo_01 |= portMap[HeaterId].m_pin;
+        //F1_gpo_01 |= portMap[HeaterId].m_pin;
+        F1_GPO_Reg.ushort |= portMap[HeaterId].m_pin;
+        F1_gpo_01 = F1_GPO_Reg.ushort;
+
     }
     else if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6)
     {
-        F3_GPO_01_bus |= portMap[HeaterId].m_pin;
+        //F3_GPO_01_bus |= portMap[HeaterId].m_pin;
+        F3_GPO_01_Reg.ushort |= portMap[HeaterId].m_pin;
+        F3_GPO_01_bus = F3_GPO_01_Reg.ushort;
+
     }
     else
     {
-        F2_CTRL |= portMap[HeaterId].m_pin;
+        //F2_CTRL |= portMap[HeaterId].m_pin;
+        F2_CTRL_Reg.ushort  |= portMap[HeaterId].m_pin;
+        F2_CTRL = F2_CTRL_Reg.ushort;
     }
 #endif
    //---------------------------------------------------------------------------------------
@@ -114,15 +126,21 @@ uint32_t DeActivateHeater (int HeaterId)
 #ifndef EVALUATION_BOARD
     if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5)
     {
-        F1_gpo_01 &= ~portMap[HeaterId].m_pin;
+        //F1_gpo_01 &= ~portMap[HeaterId].m_pin;
+        F1_GPO_Reg.ushort&= ~portMap[HeaterId].m_pin;
+        F1_gpo_01 = F1_GPO_Reg.ushort;
     }
     else if(HeaterId == HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6)
     {
-        F3_GPO_01_bus &= ~portMap[HeaterId].m_pin;
+        //F3_GPO_01_bus &= ~portMap[HeaterId].m_pin;
+        F3_GPO_01_Reg.ushort &= ~portMap[HeaterId].m_pin;
+        F3_GPO_01_bus = F3_GPO_01_Reg.ushort;
     }
     else
     {
-        F2_CTRL &= ~portMap[HeaterId].m_pin;
+        //F2_CTRL &= ~portMap[HeaterId].m_pin;
+        F2_CTRL_Reg.ushort  &= ~portMap[HeaterId].m_pin;
+        F2_CTRL = F2_CTRL_Reg.ushort;
     }
 #endif
 //---------------------------------------------------------------------------------------
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 082981bee..0f37af1b5 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
@@ -240,6 +240,11 @@ 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
+{
+    assert (MidTank_ID<NUM_OF_MIDTANKS);
+    return (int)(MidTank_Pressure[MidTank_ID]*100);
+}
 
 /////////////////////////  Head_MixChip_Heaters_Current //////////////////////////////
 
@@ -252,12 +257,12 @@ 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_HEATERS);
+    assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
     Heaters_Current_Read_Enable[Heater_ID] = true;
 }
 void Disable_Reading_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-8
 {
-    assert (Heater_ID<NUM_OF_HEATERS);
+    assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
     Heaters_Current_Read_Enable[Heater_ID] = false;
 }
 
@@ -265,9 +270,9 @@ uint32_t Read_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-8
 {
     uint32_t Status = OK;
 
-    assert (Heater_ID<NUM_OF_HEATERS);
+    assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
 
-    if(Heater_ID < DRYER_CURRENT_1)
+    if(Heater_ID < HEATER_DRYER_CURRENT_1)
         Status = Read_Head_MixChip_Heaters_Current(Heater_ID);
     else
         Status = Read_Dryer_Heaters_Current(Heater_ID);
@@ -294,36 +299,36 @@ uint32_t Read_Head_MixChip_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-5
      *
      */
 
-    assert (Heater_ID<NUM_OF_HEATERS);
+    assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
     #warning need to change the hardware://there is overflow in Dyer Head zone 4 with resistor 0.05
-    const double Resistor[NUM_OF_HEATERS] = {0.025, 0.025, 0.025, 0.025, 0.020, 0.025};
+    const double Resistor[NUM_OF_CURRENT_HEATERS] = {0.025, 0.025, 0.025, 0.025, 0.020, 0.025};
 
     if (Heaters_Current_Read_Enable[Heater_ID] == false)
         return Heaters_Current[Heater_ID];
 
     switch(Heater_ID)
     {
-        case HEAD_ZONE_1:
+        case HEATER_HEAD_CURRENT_ZONE_1:
                 I2C_Slave_Add = 0x40;
                 Channel = 0x10;
             break;
-        case HEAD_ZONE_2:
+        case HEATER_HEAD_CURRENT_ZONE_2:
                 I2C_Slave_Add = 0x40;
                 Channel = 0x08;
             break;
-        case HEAD_ZONE_3:
+        case HEATER_HEAD_CURRENT_ZONE_3:
                 I2C_Slave_Add = 0x40;
                 Channel = 0x04;
             break;
-        case HEAD_ZONE_4:
+        case HEATER_HEAD_CURRENT_ZONE_4:
                 I2C_Slave_Add = 0x44;
                 Channel = 0x80;
             break;
-        case HEAD_ZONE_5_6:
+        case HEATER_HEAD_CURRENT_ZONE_5_6:
                 I2C_Slave_Add = 0x44;
                 Channel = 0x40;
             break;
-        case MIXCHIP:
+        case HEATER_MIXCHIP_CURRENT:
                 I2C_Slave_Add = 0x46;
                 Channel = 0x08;
             break;
@@ -352,11 +357,11 @@ uint32_t Read_Head_MixChip_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-5
 
 double Get_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-8
 {
-    assert (Heater_ID<NUM_OF_HEATERS);
+    assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
     return Heaters_Current[Heater_ID];
 }
 int Get_Heaters_Current_Integer(HEATERS_CURRENT Heater_ID) //0-8
 {
-    assert (Heater_ID<NUM_OF_HEATERS);
+    assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
     return (int)(Heaters_Current[Heater_ID]*100);
 }
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 f30f587b3..6d1d9a1d5 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
@@ -25,16 +25,16 @@ typedef enum
 
 typedef enum
 {
-    HEAD_ZONE_1,
-    HEAD_ZONE_2,
-    HEAD_ZONE_3,
-    HEAD_ZONE_4,
-    HEAD_ZONE_5_6,
-    MIXCHIP,
-    DRYER_CURRENT_1,
-    DRYER_CURRENT_2,
-    DRYER_CURRENT_3,
-    NUM_OF_HEATERS,
+    HEATER_HEAD_CURRENT_ZONE_1,
+    HEATER_HEAD_CURRENT_ZONE_2,
+    HEATER_HEAD_CURRENT_ZONE_3,
+    HEATER_HEAD_CURRENT_ZONE_4,
+    HEATER_HEAD_CURRENT_ZONE_5_6,
+    HEATER_MIXCHIP_CURRENT,
+    HEATER_DRYER_CURRENT_1,
+    HEATER_DRYER_CURRENT_2,
+    HEATER_DRYER_CURRENT_3,
+    NUM_OF_CURRENT_HEATERS,
 } HEATERS_CURRENT;
 
 extern bool Heaters_Current_Read_Enable[9];
@@ -45,6 +45,7 @@ extern uint32_t Heaters_Current_Bits[9];
 
 uint32_t 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
 void MidTankPressureCorrection(double Offset);
 
 void Enable_MidTank_Pressure_Reading(MidTank_t MidTank_ID); //0-7
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 6d032fe64..790f77f8a 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
@@ -19,17 +19,25 @@ uint8_t TCA9534Init(uint8_t Dispenser_ID, TCA9534Regs* Regs)//1
 {
     uint8_t status = PASSED;
 
-    uint8_t Write_Buf[2];
+    if(Dispenser_struct[Dispenser_ID].Type == DISP_TYPE_EEPROM128KB)
+    {
+        uint8_t Write_Buf[2];
 
-    status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
+        status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
 
-    //Set all GPIO to Input
-    Regs->Config[Dispenser_ID].Uchar   = TCA9534_All_INPUT;
+        //Set all GPIO to Input
+        Regs->Config[Dispenser_ID].Uchar   = TCA9534_All_INPUT;
 
-    Write_Buf[0] = TCA9534_CONFIG_REG;
-    Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+        Write_Buf[0] = TCA9534_CONFIG_REG;
+        Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+
+        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+    }
 
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+    Regs->Input[Dispenser_ID].bit.DISP_UP    = No_Safety_Event;
+    Regs->Input[Dispenser_ID].bit.DISP_DOWN  = No_Safety_Event;
+    Regs->Input[Dispenser_ID].bit.RELAY_ON   = No_Safety_Event;
+    Regs->Input[Dispenser_ID].bit.OVER_PRESS = No_Safety_Event;
 
     return status;
 
@@ -40,15 +48,16 @@ uint8_t TCA9534SetReadInputReg(uint8_t Dispenser_ID)//2 set before read
 {
     uint8_t status = PASSED;
 
-    uint8_t Write_Buf[1];
-
-    status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
-
-    Write_Buf[0] = TCA9534_INPUT_REG;
+    if(Dispenser_struct[Dispenser_ID].Type == DISP_TYPE_EEPROM128KB)
+    {
+        uint8_t Write_Buf[1];
 
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 1);
+        status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
 
+        Write_Buf[0] = TCA9534_INPUT_REG;
 
+        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 1);
+    }
     return status;
 }
 
@@ -56,10 +65,16 @@ uint8_t TCA9534ReadInputReg(uint8_t Dispenser_ID, TCA9534Regs* Regs)//3 read
 {
     uint8_t status = PASSED;
 
-    status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
+    uint8_t Read_Buf[1];
 
-    status |= I2C_Read(I2C_ID_DISP_MUX, TCA9534_ADDRESS + 1, Regs->Input[Dispenser_ID].Uchar, 1);
+    if(Dispenser_struct[Dispenser_ID].Type == DISP_TYPE_EEPROM128KB)
+    {
+        status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
+
+        status |= I2C_Read(I2C_ID_DISP_MUX, TCA9534_ADDRESS + 1, Read_Buf, 1);
 
+        Regs->Input[Dispenser_ID].Uchar = Read_Buf[0];
+    }
     return status;
 }
 
@@ -69,103 +84,106 @@ uint8_t TCA9534TestByPassTestRelay(uint8_t Dispenser_ID, TCA9534Regs* Regs)//Set
 {
     uint8_t status = PASSED;
 
-    uint8_t Write_Buf[2];
+    if(Dispenser_struct[Dispenser_ID].Type == DISP_TYPE_EEPROM128KB)
+    {
 
-    //set Mux to the current dispenser Channel
-    status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
+        uint8_t Write_Buf[2];
 
-    //Read the Realay_on pin
-    TCA9534SetReadInputReg(Dispenser_ID);
-    TCA9534ReadInputReg(Dispenser_ID, Regs);
-    if(Regs->Config[Dispenser_ID].bit.RELAY_ON != HIGH)
-    {
-        status |= FAILED;
-    }
+        //set Mux to the current dispenser Channel
+        status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
 
-    //Set RELAY_TEST to output:
-    Regs->Config[Dispenser_ID].bit.RELAY_TEST = TCA9534_OUTPUT;
-    Write_Buf[0] = TCA9534_CONFIG_REG;
-    Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        //Read the Realay_on pin
+        TCA9534SetReadInputReg(Dispenser_ID);
+        TCA9534ReadInputReg(Dispenser_ID, Regs);
+        if(Regs->Config[Dispenser_ID].bit.RELAY_ON != HIGH)
+        {
+            status |= FAILED;
+        }
 
+        //Set RELAY_TEST to output:
+        Regs->Config[Dispenser_ID].bit.RELAY_TEST = TCA9534_OUTPUT;
+        Write_Buf[0] = TCA9534_CONFIG_REG;
+        Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
-    //Set the test pin to LOW
-    Regs->Output[Dispenser_ID].bit.RELAY_TEST = LOW;
-    Write_Buf[0] = TCA9534_OUTPUT_REG;
-    Write_Buf[1] = Regs->Output[Dispenser_ID].Uchar;
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
-    //deley
-    delayms(5);
+        //Set the test pin to LOW
+        Regs->Output[Dispenser_ID].bit.RELAY_TEST = LOW;
+        Write_Buf[0] = TCA9534_OUTPUT_REG;
+        Write_Buf[1] = Regs->Output[Dispenser_ID].Uchar;
+        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
-    //Read the Realay_on pin
-    TCA9534SetReadInputReg(Dispenser_ID);
-    TCA9534ReadInputReg(Dispenser_ID, Regs);
-    if(Regs->Config[Dispenser_ID].bit.RELAY_ON != LOW)
-    {
-        status |= FAILED;
-    }
+        //deley
+        delayms(5);
 
-    //---------------------- test ByPass ----------------------
-    //Set BYPASS to output:
-    Regs->Config[Dispenser_ID].bit.BYPASS = TCA9534_OUTPUT;
-    Write_Buf[0] = TCA9534_CONFIG_REG;
-    Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        //Read the Realay_on pin
+        TCA9534SetReadInputReg(Dispenser_ID);
+        TCA9534ReadInputReg(Dispenser_ID, Regs);
+        if(Regs->Config[Dispenser_ID].bit.RELAY_ON != LOW)
+        {
+            status |= FAILED;
+        }
 
-    //Set the BYPASS pin to LOW
-    Regs->Output[Dispenser_ID].bit.BYPASS = LOW;
-    Write_Buf[0] = TCA9534_OUTPUT_REG;
-    Write_Buf[1] = Regs->Output[Dispenser_ID].Uchar;
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        //---------------------- test ByPass ----------------------
+        //Set BYPASS to output:
+        Regs->Config[Dispenser_ID].bit.BYPASS = TCA9534_OUTPUT;
+        Write_Buf[0] = TCA9534_CONFIG_REG;
+        Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
-    //deley
-    delayms(Relay_Operate_time);
+        //Set the BYPASS pin to LOW
+        Regs->Output[Dispenser_ID].bit.BYPASS = LOW;
+        Write_Buf[0] = TCA9534_OUTPUT_REG;
+        Write_Buf[1] = Regs->Output[Dispenser_ID].Uchar;
+        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
-    //Read the Realay_on pin
-    TCA9534SetReadInputReg(Dispenser_ID);
-    TCA9534ReadInputReg(Dispenser_ID, Regs);
-    if(Regs->Config[Dispenser_ID].bit.RELAY_ON != HIGH)
-    {
-        status |= FAILED;
-    }
+        //deley
+        delayms(Relay_Operate_time);
 
-    //Set BYPASS to input:
-    Regs->Config[Dispenser_ID].bit.BYPASS = TCA9534_INPUT;
-    Write_Buf[0] = TCA9534_CONFIG_REG;
-    Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        //Read the Realay_on pin
+        TCA9534SetReadInputReg(Dispenser_ID);
+        TCA9534ReadInputReg(Dispenser_ID, Regs);
+        if(Regs->Config[Dispenser_ID].bit.RELAY_ON != HIGH)
+        {
+            status |= FAILED;
+        }
 
-    //deley
-    delayms(Relay_Operate_time);
+        //Set BYPASS to input:
+        Regs->Config[Dispenser_ID].bit.BYPASS = TCA9534_INPUT;
+        Write_Buf[0] = TCA9534_CONFIG_REG;
+        Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
-    //Read the Realay_on pin
-    TCA9534SetReadInputReg(Dispenser_ID);
-    TCA9534ReadInputReg(Dispenser_ID, Regs);
-    if(Regs->Config[Dispenser_ID].bit.RELAY_ON != LOW)
-    {
-        status |= FAILED;
-    }
+        //deley
+        delayms(Relay_Operate_time);
 
-    //---------------------------------------------------------
+        //Read the Realay_on pin
+        TCA9534SetReadInputReg(Dispenser_ID);
+        TCA9534ReadInputReg(Dispenser_ID, Regs);
+        if(Regs->Config[Dispenser_ID].bit.RELAY_ON != LOW)
+        {
+            status |= FAILED;
+        }
 
-    //Set RELAY_TEST to input:
-    Regs->Config[Dispenser_ID].bit.RELAY_TEST = TCA9534_INPUT;
-    Write_Buf[0] = TCA9534_CONFIG_REG;
-    Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        //---------------------------------------------------------
 
-    //deley
-    delayms(Relay_Operate_time);
+        //Set RELAY_TEST to input:
+        Regs->Config[Dispenser_ID].bit.RELAY_TEST = TCA9534_INPUT;
+        Write_Buf[0] = TCA9534_CONFIG_REG;
+        Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
-    //Read the Realay_on pin
-    TCA9534SetReadInputReg(Dispenser_ID);
-    TCA9534ReadInputReg(Dispenser_ID, Regs);
-    if(Regs->Config[Dispenser_ID].bit.RELAY_ON != HIGH)
-    {
-        status |= FAILED;
-    }
+        //deley
+        delayms(Relay_Operate_time);
 
+        //Read the Realay_on pin
+        TCA9534SetReadInputReg(Dispenser_ID);
+        TCA9534ReadInputReg(Dispenser_ID, Regs);
+        if(Regs->Config[Dispenser_ID].bit.RELAY_ON != HIGH)
+        {
+            status |= FAILED;
+        }
+    }
     return status;
 
 }
@@ -174,33 +192,37 @@ uint8_t TCA9534TestRelay(uint8_t Dispenser_ID, TCA9534Regs* Regs, bool EnableTes
 {
     uint8_t status = PASSED;
 
-    uint8_t Write_Buf[2];
-
-    //set Mux to the current dispenser Channel
-    status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
-
-    if(EnableTestRelay)
+    if(Dispenser_struct[Dispenser_ID].Type == DISP_TYPE_EEPROM128KB)
     {
-        //Set RELAY_TEST to output:
-        Regs->Config[Dispenser_ID].bit.RELAY_TEST = TCA9534_OUTPUT;
-        Write_Buf[0] = TCA9534_CONFIG_REG;
-        Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
-        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
+        uint8_t Write_Buf[2];
 
-        //Set the RELAY_TEST pin to LOW
-        Regs->Output[Dispenser_ID].bit.RELAY_TEST = LOW;
-        Write_Buf[0] = TCA9534_OUTPUT_REG;
-        Write_Buf[1] = Regs->Output[Dispenser_ID].Uchar;
-        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
-    }
+        //set Mux to the current dispenser Channel
+        status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
 
-    //Set RELAY_TEST to input:
-    Regs->Config[Dispenser_ID].bit.RELAY_TEST = TCA9534_INPUT;
-    Write_Buf[0] = TCA9534_CONFIG_REG;
-    Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        if(EnableTestRelay)
+        {
+            //Set RELAY_TEST to output:
+            Regs->Config[Dispenser_ID].bit.RELAY_TEST = TCA9534_OUTPUT;
+            Write_Buf[0] = TCA9534_CONFIG_REG;
+            Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+            status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
+            //Set the RELAY_TEST pin to LOW
+            Regs->Output[Dispenser_ID].bit.RELAY_TEST = LOW;
+            Write_Buf[0] = TCA9534_OUTPUT_REG;
+            Write_Buf[1] = Regs->Output[Dispenser_ID].Uchar;
+            status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        }
+        /*else
+        {
+            //Set RELAY_TEST to input:
+            Regs->Config[Dispenser_ID].bit.RELAY_TEST = TCA9534_INPUT;
+            Write_Buf[0] = TCA9534_CONFIG_REG;
+            Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+            status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        }*/
+    }
     return status;
 
 }
@@ -209,33 +231,38 @@ uint8_t TCA9534ByPass(uint8_t Dispenser_ID, TCA9534Regs* Regs, bool EnableByPass
 {
     uint8_t status = PASSED;
 
-    uint8_t Write_Buf[2];
-
-    //set Mux to the current dispenser Channel
-    status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
-
-    if(EnableByPass)
+    if(Dispenser_struct[Dispenser_ID].Type == DISP_TYPE_EEPROM128KB)
     {
-        //Set BYPASS to output:
-        Regs->Config[Dispenser_ID].bit.BYPASS = TCA9534_OUTPUT;
-        Write_Buf[0] = TCA9534_CONFIG_REG;
-        Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
-        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
+        uint8_t Write_Buf[2];
 
-        //Set the BYPASS pin to LOW
-        Regs->Output[Dispenser_ID].bit.BYPASS = LOW;
-        Write_Buf[0] = TCA9534_OUTPUT_REG;
-        Write_Buf[1] = Regs->Output[Dispenser_ID].Uchar;
-        status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
-    }
+        //set Mux to the current dispenser Channel
+        status |= Select_Dispenser_Mux_Channel(Dispenser_ID);
 
-    //Set BYPASS to input:
-    Regs->Config[Dispenser_ID].bit.BYPASS = TCA9534_INPUT;
-    Write_Buf[0] = TCA9534_CONFIG_REG;
-    Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
-    status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        if(EnableByPass)
+        {
+            //Set BYPASS to output:
+            Regs->Config[Dispenser_ID].bit.BYPASS = TCA9534_OUTPUT;
+            Write_Buf[0] = TCA9534_CONFIG_REG;
+            Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+            status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
 
+            //Set the BYPASS pin to LOW
+            Regs->Output[Dispenser_ID].bit.BYPASS = LOW;
+            Write_Buf[0] = TCA9534_OUTPUT_REG;
+            Write_Buf[1] = Regs->Output[Dispenser_ID].Uchar;
+            status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        }
+        /*else
+        {
+            //Set BYPASS to input:
+            Regs->Config[Dispenser_ID].bit.BYPASS = TCA9534_INPUT;
+            Write_Buf[0] = TCA9534_CONFIG_REG;
+            Write_Buf[1] = Regs->Config[Dispenser_ID].Uchar;
+            status |= I2C_Write(I2C_ID_DISP_MUX, TCA9534_ADDRESS, Write_Buf, 2);
+        }*/
+
+    }
     return status;
 
 }
@@ -269,15 +296,18 @@ uint8_t test_IO()
 
     for(i=0;i<8;i++)
     {
-        status |= TCA9534Init(i, &Regs);
-        status |= TCA9534SetReadInputReg(i);
-        status |= TCA9534ReadInputReg(i, &Regs);
-        status |= TCA9534TestRelay(i, &Regs, ENABLE);
-        status |= TCA9534ByPass(i, &Regs, ENABLE);
-        Read_Notification_Disp_UP(i, &Regs);
-        Read_Notification_Disp_Down(i, &Regs);
-        Read_Notification_Realy_On(i, &Regs);
-        Read_Notification_Over_Press(i, &Regs);
+        if(Dispenser_struct[i].Type == DISP_TYPE_EEPROM128KB)
+        {
+            status |= TCA9534Init(i, &Regs);
+            status |= TCA9534SetReadInputReg(i);
+            status |= TCA9534ReadInputReg(i, &Regs);
+            status |= TCA9534TestRelay(i, &Regs, ENABLE);
+            status |= TCA9534ByPass(i, &Regs, ENABLE);
+            //Read_Notification_Disp_UP(i, &Regs);
+            //Read_Notification_Disp_Down(i, &Regs);
+            //Read_Notification_Realy_On(i, &Regs);
+            //Read_Notification_Over_Press(i, &Regs);
+        }
     }
 
     return status;
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index aa633483c..106e60316 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -12,6 +12,7 @@
  *************************************************************************************************/
 
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include "include.h"
 #include "motor.h"
 #include "Modules/thread/thread.h"
@@ -25,9 +26,6 @@
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-
-/////////////////////////
 #include "driverlib/ssi.h"
 
 extern unsigned long Run_Value ;
@@ -346,13 +344,42 @@ uint32_t MotorSetMaxSpeed(TimerMotors_t _motorId, uint32_t MaxSpeed)
 
 uint32_t MotorSetMicroStep(TimerMotors_t _motorId, uint32_t microstep)
 {
-    MotorsCfg[_motorId].microstep = microstep;
+    MotorDriverRequest[_motorId].microstep = microstep;
     FPGA_SetMotMicroStep(_motorId);
 
     return OK;
 }
 
+uint32_t MotorSetKvalHold(TimerMotors_t _motorId, uint8_t Value)
+{
+    MotorDriverRequest[_motorId].KvalHold = Value;
+    FPGA_SetMotKvalHold(_motorId);
+
+    return OK;
+}
+uint32_t MotorSetKvalRun(TimerMotors_t _motorId, uint8_t Value)
+{
+    MotorDriverRequest[_motorId].KvalRun = Value;
+    FPGA_SetMotKvalRun(_motorId);
+
+    return OK;
+}
+
+uint32_t MotorSetKvalAcc(TimerMotors_t _motorId, uint8_t Value)
+{
+    MotorDriverRequest[_motorId].KvalAcc = Value;
+    FPGA_SetMotKvalAcc(_motorId);
+
+    return OK;
+}
 
+uint32_t MotorSetKvalDec(TimerMotors_t _motorId, uint8_t Value)
+{
+    MotorDriverRequest[_motorId].KvalDec = Value;
+    FPGA_SetMotKvalDec(_motorId);
+
+    return OK;
+}
 
 uint32_t MotorMove(TimerMotors_t _motorId,bool direction, uint32_t Steps)
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index 7599c10db..3b9eba3d8 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -86,6 +86,11 @@ typedef struct
   uint32_t Speed;
   uint32_t Position;
   uint8_t Stop;
+  uint8_t KvalHold;
+  uint8_t KvalRun;
+  uint8_t KvalAcc;
+  uint8_t KvalDec;
+  int32_t microstep;
 }MotorDriverRequestStruct;
 
 typedef struct
@@ -182,6 +187,11 @@ uint32_t MotorSetSpeedWithCallback (TimerMotors_t _motorId, uint32_t _freq, call
 
 uint32_t SetMotHome(TimerMotors_t _motorId);
 
+uint32_t MotorSetKvalHold(TimerMotors_t _motorId, uint8_t Value);
+uint32_t MotorSetKvalRun(TimerMotors_t _motorId, uint8_t Value);
+uint32_t MotorSetKvalAcc(TimerMotors_t _motorId, uint8_t Value);
+uint32_t MotorSetKvalDec(TimerMotors_t _motorId, uint8_t Value);
+
 void MotorActionsInit(void);
 
 uint32_t MotorGetStatus(TimerMotors_t _motorId);
@@ -201,6 +211,7 @@ uint32_t MotorMovetoBreakSensor (TimerMotors_t _motorId,bool direction, uint32_t
 uint32_t MotorMovetoDancerPosition (TimerMotors_t _motorId,bool direction, uint32_t Freq,uint32_t DancerId,bool dancervaluedirection,  callback_fptr callback,uint32_t timeout);
 uint32_t MotorAbortMovetoLimitSwitch (TimerMotors_t _motorId);
 uint32_t MotorMoveToStopper (TimerMotors_t _motorId,bool direction, uint32_t Speed, callback_fptr callback,uint32_t backlash,uint32_t timeout);
+uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callback,uint32_t timeout);
 
 uint32_t MotorGoTo(TimerMotors_t _motorIdn, uint32_t Steps);
 #endif /* DRIVERS_MOTOR_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index a9cb3b01e..bf96335e1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -12,6 +12,7 @@
  *************************************************************************************************/
 
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include "include.h"
 #include "motor.h"
 #include "Modules/thread/thread.h"
@@ -25,7 +26,6 @@
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
-#include "drivers/FPGA/Moters_Driver/L6470.h"
 #include "drivers/SSI_Comm/Dancer/Dancer.h"
 
 /////////////////////////
@@ -50,8 +50,8 @@ uint32_t MotorTimeLimit[NUM_OF_MOTORS];
 uint32_t MotorControlId[NUM_OF_MOTORS];
 uint32_t StoredMotorPosition[NUM_OF_MOTORS];
 FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for normal homing into working mode
-      GPI_LS_DH_CLEAN_RIGHT    , //MOTO_DH_CLEANHEAD = 0,
-      GPI_LS_DH_CLEAN_LEFT, //MOTO_DH_CLEANMECH = 1,
+      GPI_LS_DH_CLEAN_LEFT    , //MOTO_DH_CLEANHEAD = 0, Shlomo Correct setting for machine 7 25/3
+      GPI_LS_DH_CLEAN_RIGHT, //MOTO_DH_CLEANMECH = 1, Shlomo Correct setting for machine 7 25/3
       GPI_LS_DH_LID_CLOSED, //MOTO_DH_LID = 2,
       MAX_GPI, //MOTO_DRYER_DRIVING = 3,
       GPI_LS_DRYER_LID_CLOSED, //MOTO_DRYER_LID = 4,
@@ -77,8 +77,8 @@ FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for n
       GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
 };
 FPGA_GPI_ENUM     Motor_Id_to_LS_IdUp[NUM_OF_MOTORS] = { // limit switch for normal homing out of working mode
-      GPI_LS_DH_CLEAN_RIGHT    , //MOTO_DH_CLEANHEAD = 0,
-      GPI_LS_DH_CLEAN_LEFT, //MOTO_DH_CLEANMECH = 1,
+      GPI_LS_DH_CLEAN_LEFT    , //MOTO_DH_CLEANHEAD = 0, Shlomo Correct setting for machine 7 25/3
+      GPI_LS_DH_CLEAN_RIGHT, //MOTO_DH_CLEANMECH = 1, Shlomo Correct setting for machine 7 25/3
       GPI_LS_DH_LID_OPEN, //MOTO_DH_LID = 2,
       MAX_GPI, //MOTO_DRYER_DRIVING = 3,
       GPI_LS_DRYER_LID_OPEN, //MOTO_DRYER_LID = 4,
@@ -98,7 +98,7 @@ FPGA_GPI_ENUM     Motor_Id_to_LS_IdUp[NUM_OF_MOTORS] = { // limit switch for nor
       MAX_GPI, //MOTO_LDRIVING = 18,
       GPI_LS_LLOADMOTOR_UP, //MOTO_LLOADING = 19,
       GPI_LS_LPIVOT_UP, //MOTO_LPIVOT1 = 20,
-      GPI_LS_RDANCER_UP, //MOTO_RDANCER = 21,
+      GPI_LS_RDANCER_LONG, //MOTO_RDANCER = 21,
       MAX_GPI, //MOTO_RDRIVING = 22,
       GPI_LS_RLOADRAM_UP, //MOTO_RLOADARM = 23,
       GPI_LS_RLOADMOTOR_UP, //MOTO_RLOADING = 24,
@@ -166,6 +166,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t MotorId,bool direction, uint32_t S
     return MotorControlId[MotorId];
 }
 uint32_t DryerBackLash = 0;
+uint32_t DrierZeroPosition = 0;
 bool     DrierBackLashDirection = false;
 int CallbackCalls=0;
 bool FirstCall = false;
@@ -193,25 +194,29 @@ uint32_t MotorVerifiedCallBackFunction(uint32_t IfIndex, uint32_t ArmPosition) /
     }
     Report("Move_To_Stopper_Callback",__FILE__,__LINE__,MotorPosition,RpMessage,StoredMotorPosition[MotorId],0);
 
-       //if (((abs(MotorPosition - StoredMotorPosition[MotorId])<=60)||(MotorGetDirection(MotorId)!=(1-DrierBackLashDirection)))&&(CallbackCalls>=10)) /*Motor did not move in the last time lag*/
-        if (abs(MotorPosition - StoredMotorPosition[MotorId])<=10)
-        {
-           //stop this control loop
-           REPORT_MSG(MotorPosition,"MotorVerifiedCallBackFunction stopped");
-           SafeRemoveControlCallback(MotorControlId[MotorId], MotorControlCallback[MotorId] );
-           MotorControlCallback[MotorId] = 0;
-           MotorControlId[MotorId] = 0xFF;
-           MotorStop(MotorId,Hard_Hiz );
-           Task_sleep(5);
-           MotorMove(MotorId,DrierBackLashDirection,DryerBackLash );
-           Task_sleep(5);
+    Read_Dryer_ENC_Position(); //trigger the next call
 
-           //call the module callback
-           if (MotorCallback[MotorId])
-               MotorCallback[MotorId](MotorId,ArmPosition);
+   //if (((abs(MotorPosition - StoredMotorPosition[MotorId])<=60)||(MotorGetDirection(MotorId)!=(1-DrierBackLashDirection)))&&(CallbackCalls>=10)) /*Motor did not move in the last time lag*/
+    if (abs(MotorPosition - StoredMotorPosition[MotorId])<=10)
+    {
+       //stop this control loop
+       REPORT_MSG(MotorPosition,"MotorVerifiedCallBackFunction stopped");
+       SafeRemoveControlCallback(MotorControlId[MotorId], MotorControlCallback[MotorId] );
+       MotorControlCallback[MotorId] = 0;
+       MotorControlId[MotorId] = 0xFF;
+       MotorStop(MotorId,Hard_Hiz );
+       Task_sleep(5);
+       MotorMove(MotorId,DrierBackLashDirection,DryerBackLash );
+       Task_sleep(5);
+       DrierZeroPosition = Read_Dryer_ENC_Position(); //trigger the next call
+       Report("MotorVerifiedCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,0,0);
 
-       }
-       else StoredMotorPosition[MotorId] = MotorPosition;
+       //call the module callback
+       if (MotorCallback[MotorId])
+           MotorCallback[MotorId](MotorId,ArmPosition);
+
+   }
+   else StoredMotorPosition[MotorId] = MotorPosition;
 
    return OK;
 }
@@ -236,10 +241,87 @@ 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,  /*eTenMillisecond*/50, Read_Dryer_ENC_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback( MotorVerifiedCallBackFunction,  20,Control_Read_Dryer_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorVerifiedCallBackFunction;
     return MotorControlId[MotorId];
 }
+uint32_t MotorMoveToDrierPositionCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
+{
+    TimerMotors_t MotorId;
+    if (IfIndex>>8 != IfTypeMotors)
+    {
+        LOG_ERROR (IfIndex, "Wrong  Interface type");
+        return 0xFFFFFFFF;
+    }
+    MotorId = (TimerMotors_t)(IfIndex&0xFF);
+
+    if (MotorControlId[MotorId] == 0xFF)
+        return ERROR;
+    Report("MotorMoveToDrierPositionCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,ReadValue,0);
+
+   if (DrierZeroPosition == ReadValue) //thread running identified
+   {
+       //stop this control loop
+       SafeRemoveControlCallback(MotorControlId[MotorId], MotorControlCallback[MotorId] );
+       MotorControlCallback[MotorId] = 0;
+       MotorControlId[MotorId] = 0xFF;
+       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 );
+
+       //call the module callback
+       if (MotorCallback[MotorId])
+           MotorCallback[MotorId](MotorId,ReadValue);
+   }
+   return OK;
+}
+uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callback,uint32_t timeout)
+{
+    assert (callback);
+    uint32_t currentposition = 0;
+    bool direction;
+    //assert (isValid(deviceId));
+
+    //call driver action to device id with the parameter
+    MotorCallback[MotorId] = callback;
+
+    //decide the required direction and  speed
+    Read_Dryer_ENC_Position();
+    MotorStop(MotorId,Hard_Hiz );
+
+    Task_sleep(5);
+    Read_Dryer_ENC_Position();
+    Task_sleep(5);
+    currentposition = Control_Read_Dryer_Position(0,0,0);
+    Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,DrierZeroPosition,RpWarning,currentposition,0);
+
+    if (currentposition > DrierZeroPosition)
+    {
+        direction = false;
+    }
+    else
+    {
+        if (currentposition == DrierZeroPosition)
+        {
+            if (callback)
+                callback(MotorId,0);
+            return OK;
+        }
+        else
+        {
+            direction = true;
+        }
+    }
+
+    MotorSetDirection( MotorId, direction);
+    MotorSetSpeed (MotorId, 5);
+    MotorControlId[MotorId] = AddControlCallback( MotorMoveToDrierPositionCallBackFunction,  eOneMillisecond,Control_Read_Dryer_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlCallback[MotorId] = MotorMoveToDrierPositionCallBackFunction;
+    return MotorControlId[MotorId];
+
+}
+
 uint32_t MotorSetSpeedWithCallback (TimerMotors_t MotorId, uint32_t _freq, callback_fptr callback) //TODO
 {
     assert (callback);
@@ -304,6 +386,8 @@ uint32_t MotorSetSpeedCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TO
        }
    return OK;
 }
+bool CloseMagnet = false;
+bool HoldRightDancer = false;
 uint32_t MotorMoveToLimitSwitchCallBackFunction(uint32_t IfIndex, uint32_t LimitSwitch) //TODO
 {
     TimerMotors_t MotorId;
@@ -324,11 +408,12 @@ uint32_t MotorMoveToLimitSwitchCallBackFunction(uint32_t IfIndex, uint32_t Limit
        SafeRemoveControlCallback(MotorControlId[MotorId], MotorControlCallback[MotorId] );
        MotorControlCallback[MotorId] = 0;
        MotorControlId[MotorId] = 0xFF;
-       /*if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_RDANCER)
+       if ((MotorId == HARDWARE_MOTOR_TYPE__MOTO_RDANCER)&&(HoldRightDancer == true))
        {
+           HoldRightDancer = false;
            MotorStop(MotorId,Soft_Stop);  //TODO in run time limit switch just reverse direction
        }
-       else*/
+       else
        {
            MotorStop(MotorId,Hard_Hiz);  //TODO in run time limit switch just reverse direction
        }
@@ -336,8 +421,13 @@ 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 );
        if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_DH_LID)
-           ActivateHeadMagnet();
-
+       {
+           if (CloseMagnet == true)
+           {
+               ActivateHeadMagnet();
+               CloseMagnet=false;
+           }
+       }
        //call the module callback
        if (MotorCallback[MotorId])
            MotorCallback[MotorId](MotorId,LimitSwitch);
@@ -360,7 +450,20 @@ uint32_t MotorMovetoLimitSwitch (TimerMotors_t MotorId,bool direction, uint32_t
     //call driver action to device id with the parameter
     //SetMotorSpeed (deviceId, parameter);
     if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_DH_LID)
+    {
         DeActivateHeadMagnet();
+        if (direction == MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize)
+        {
+            CloseMagnet = true;
+        }
+    }
+    if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_RDANCER)
+    {
+        if (direction != MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize)
+        {
+            HoldRightDancer = true;
+        }
+    }
 
     MotorTimeout[MotorId] = 0;
     MotorTimeLag[MotorId] = eTenMillisecond;
@@ -483,6 +586,7 @@ uint32_t MotorMoveToDancerPositionCallBackFunction(uint32_t IfIndex, uint32_t Re
    }
    return OK;
 }
+
 uint32_t MotorMovetoDancerPosition (TimerMotors_t MotorId,bool direction, uint32_t Freq,uint32_t dancerid,bool dancervaluedirection,  callback_fptr callback,uint32_t timeout)
 {
     if (MotorControlId[MotorId] != 0xFF)
diff --git a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
index 858fc01cb..43174ec89 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
@@ -13,8 +13,6 @@
 #include "utils/uartstdio.h"
 
 //#include "graphics_adapter.h"
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-#include "drivers/FPGA/Moters_Driver/PowerSTEP01.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 
 //#include "drivers/FPGA/FPGA_Comm.h"
@@ -22,6 +20,8 @@
 #include <driverlib/rom.h>
 #include <driverlib/rom_map.h>
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
+#include <Drivers/FPGA/Motors_Driver/PowerSTEP01.h>
 #include "drivers/Motors/Motor.h"
 
 void temp_init_spi2();
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
index 6c692ed10..de2ceb698 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
@@ -84,6 +84,11 @@ uint32_t Read_Dryer_ENC_Position ()
     FPGA_SSI_Dryer_ENC_Transnit();
     return Dryer_ENC.Position;
 }
+uint32_t Control_Read_Dryer_Position(HardwareDancerType DancerId, uint32_t Parameter1)
+{
+    return Dryer_ENC.Position;
+    //return SSI_enc.Position;
+}
 
 void Loop_SSI()
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
index bc03b3e9e..7a843b1c1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
@@ -12,6 +12,7 @@
 uint32_t Read_Dancer_Position (HardwareDancerType DancerId);
 uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1, uint32_t Parameter2);
 uint32_t Read_Dryer_ENC_Position ();
+uint32_t Control_Read_Dryer_Position(uint32_t DryerID, uint32_t Parameter1, uint32_t Parameter2);
 
 void Loop_SSI();
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 3b1d53758..c546dc30a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -21,9 +21,11 @@
 #include "Modules/Control/Control.h"
 
 VALVE_GPO_REG Valve_GPO_Reg;
-F1_GPO_REG F1_GPO_Reg;
+extern F1_GPO_REG F1_GPO_Reg;
 DISPENSER_VALVE_GPO_REG Dispenser_Valve_GPO_Reg;
 
+extern F3_GPO_01_REG F3_GPO_01_Reg;
+
 Valves_t IDS_Id_to_AirValve[MAX_IDS_UNITS] = {VALVE_2W_MID_AIR_1,VALVE_2W_MID_AIR_2,VALVE_2W_MID_AIR_3,VALVE_2W_MID_AIR_4,VALVE_2W_MID_AIR_5,VALVE_2W_MID_AIR_6,VALVE_2W_MID_AIR_7,VALVE_2W_MID_AIR_8};
 Valves_t IDS_Id_to_CartrideValve[MAX_IDS_UNITS] = {VALVE_2W_CART_MID_1,VALVE_2W_CART_MID_2,VALVE_2W_CART_MID_3,VALVE_2W_CART_MID_4,VALVE_2W_CART_MID_5,VALVE_2W_CART_MID_6,VALVE_2W_CART_MID_7,VALVE_2W_CART_MID_8};
 
@@ -385,13 +387,18 @@ uint8_t Lubricant_2Way_Valve(bool Direction)
 
     if(Direction == OPEN)
     {
-            F3_GPO_01_bus |= BIT0;
+            //F3_GPO_01_bus |= BIT0;
+            F3_GPO_01_Reg.bits.F3_LUBRICANT_VALVE = OPEN;
     }
     else //Direction = CLOSE
     {
 
-        F3_GPO_01_bus &= ~(BIT0);
+        //F3_GPO_01_bus &= ~(BIT0);
+        F3_GPO_01_Reg.bits.F3_LUBRICANT_VALVE = CLOSE;
     }
+
+    F3_GPO_01_bus = F3_GPO_01_Reg.ushort;
+
     return Status;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
index 637c91e7d..ac1cff75e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.c
@@ -33,7 +33,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     uint32_t ui32ProgAddr;
     uint32_t ui32BufferAddr;
     volatile uint32_t ui32Idx;
-    uint32_t ui32FlashEnd;
+    //uint32_t ui32FlashEnd;
 
 
     //
@@ -41,7 +41,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     // If reserved space is configured, then the ending address is reduced
     // by the amount of the reserved block.
     //
-    ui32FlashEnd = ui32FlashStart + ui32FileSize;
+    //ui32FlashEnd = ui32FlashStart + ui32FileSize;
 
 
     //
@@ -68,7 +68,7 @@ uint32_t ReadAppAndProgram(uint32_t ui32FlashStart,uint32_t ui32FileSize,void* b
     // stick updater).
     //
     ui32ProgAddr = ui32FlashStart;
-    ui32BufferAddr = buffer;
+    ui32BufferAddr = (uint32_t)buffer;
     ui32Remaining = ui32FileSize;
     while(ui32Remaining)
     {
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index fc3d09402..046f8291e 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -46,7 +46,7 @@
 
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "StateMachines/Initialization/InitSequence.h"
-
+#include "StateMachines/Initialization/PowerIdle.h"
 #include <Drivers/SSI_Comm/SSI_Comm.h>
 #include "drivers/SPI/SPI_Comm.h"
 #include "drivers/Uart_Comm/Uart.h"
@@ -65,7 +65,8 @@
 #include "drivers/Flash_Memory/FATFS/ff.h"
 #include "drivers/Flash_Memory/FATFS/Control_File_System.h"
 
-
+#include "Modules/General/buttons.h"
+#include "Modules/Waste/Waste.h"
 //#define WATCHDOG
 //*****************************************************************************
 //
@@ -87,6 +88,12 @@ static volatile uint32_t g_ui32Flags;
 
 bool Machine_Idle_Mode = false;
 
+
+F2_CTRL_REG F2_CTRL_Reg;
+F1_GPO_REG F1_GPO_Reg;
+
+F3_GPO_01_REG F3_GPO_01_Reg;
+
 //MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*));
 uint32_t MainDummyFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
@@ -188,6 +195,9 @@ int main(void)
     ControlStart();
     Heaters_Init();
     MotorsInit();
+//Shai    WHS_HW_test(); // for WHS sensor test
+//    WHS_init();
+//   Buttons_Init();
     //IDS_ModuleInit();
     Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste);
 
@@ -215,6 +225,9 @@ int main(void)
     //
     //test_avi(); //example for shai
 
+    Set_Speed_Sensor_TypeII_Registers(2,2);//set default values
+    //Read_Speed_Sensor_TypeII();//must be delay between Set_Speed_Sensor_TypeII_Registers to Read_Speed_Sensor_TypeII
+
     //Test_ADS120_Internal_Temperature_Sensor(0);
 
     #ifndef EVALUATION_BOARD
@@ -232,7 +245,7 @@ int main(void)
 //    HWControlId = AddControlCallback( MainHWInitCallBackFunction, 2* eOneSecond/*eHundredMillisecond*/, MainDummyFunction,0,0, 0 );
 
     Start_InitSequence();
-
+    PowerIdleInit();
     BIOS_start();
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 94c7614d1..81c4a230b 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -11,6 +11,7 @@
 
 #include "AlarmHandling.h"
 #include <driverlib/timer.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include <Drivers/SSI_Comm/SSI_Comm.h>
 #include <inc/hw_ints.h>
 
@@ -25,6 +26,7 @@
 #include "drivers/FPGA/FPGA.h"
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 #include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
+#include "drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h"
 
 #include "modules/thread/thread_ex.h"
 #include "modules/heaters/heaters_ex.h"
@@ -46,7 +48,6 @@
 
 #include "StateMachines/Printing/PrintingSTM.h"
 
-#include "drivers/FPGA/Moters_Driver/L6470.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Flash_ram/FlashProgram.h"
@@ -59,6 +60,7 @@ bool AlarmHandlingActive = false;
 uint32_t AlarmHandlingControlId = 0xFF;
 uint32_t AlarmHandlingTick = 0;
 
+bool    CheckHardLimitAlarms = false,CheckCurrentAlarms = false,CheckTamperAlarms = false;
 uint8_t alarm_response_buffer[500];
 
 /******************** Functions  ********************************************/
@@ -84,7 +86,7 @@ typedef struct AlarmHandlingMessage{
 }AlarmHandlingMessageStruc;
 
 #define MAX_SYSTEM_ALARMS 300+1
-typedef enum
+/*typedef enum
 {
     TemperatureAlarm,
     LimitSwitchAlarm,
@@ -93,13 +95,16 @@ typedef enum
     MotorAlarm,
     CoversAlarm,
     DoNotPollAlarm,
-}AlarmSource;
-#define OVER_VALUE true;
-#define UNDER_VALUE false;
+    HardLimitAlarm,
+    TachoAlarm,
+    FluidLevelAlarm,
+}AlarmSource;*/
+#define OVER_VALUE true
+#define UNDER_VALUE false
 typedef struct
 {
     uint16_t Frequency;  //1/10/100/1000
-    AlarmSource AlarmSource;
+    AlarmSourceType AlarmSource;
     uint16_t DeviceId;
     uint8_t ModuleDeviceId;
     uint16_t AlarmValue;
@@ -126,183 +131,213 @@ AlarmStatusItem  AlarmState[MAX_SYSTEM_ALARMS];
 */
 AlarmHandlingItemStruc  *AlarmItem;
 const AlarmHandlingItemStruc  HardCodedAlarmItem[MAX_SYSTEM_ALARMS]={
- {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_1,0,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_1_EMPTY,"Dispenser 1 Empty"},
- {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_2,1,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_2_EMPTY,"Dispenser 2 Empty"},
- {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_3,2,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_3_EMPTY,"Dispenser 3 Empty"},
- {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_4,3,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_4_EMPTY,"Dispenser 4 Empty"},
- {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_5,4,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_5_EMPTY,"Dispenser 5 Empty"},
- {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_6,5,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_6_EMPTY,"Dispenser 6 Empty"},
- {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_7,6,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_7_EMPTY,"Dispenser 7 Empty"},
- {eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_8,7,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_8_EMPTY,"Dispenser 8 Empty"},
- {eOneSecond,PressureAlarm,0,0,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_1_OVERPRESSURE,"Dispenser 1 Over Pressure"},
- {eOneSecond,PressureAlarm,1,1,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_2_OVERPRESSURE,"Dispenser 2 Over Pressure"},
- {eOneSecond,PressureAlarm,2,2,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_3_OVERPRESSURE,"Dispenser 3 Over Pressure"},
- {eOneSecond,PressureAlarm,3,3,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_4_OVERPRESSURE,"Dispenser 4 Over Pressure"},
- {eOneSecond,PressureAlarm,4,4,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_5_OVERPRESSURE,"Dispenser 5 Over Pressure"},
- {eOneSecond,PressureAlarm,5,5,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_6_OVERPRESSURE,"Dispenser 6 Over Pressure"},
- {eOneSecond,PressureAlarm,6,6,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_7_OVERPRESSURE,"Dispenser 7 Over Pressure"},
- {eOneSecond,PressureAlarm,7,7,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_8_OVERPRESSURE,"Dispenser 8 Over Pressure"},
- {eOneSecond,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,"MotorDryerOverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__FEEDER_MOTOR_OVERCURRENT,"MotorFeederOverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,        HARDWARE_MOTOR_TYPE__MOTO_SCREW,        x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__SCREW_MOTOR_OVERCURRENT,"MotorScrewOverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,       HARDWARE_MOTOR_TYPE__MOTO_WINDER,       x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__WINDER_MOTOR_OVERCURRENT,"MotorWinderOverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__PULLER_MOTOR_OVERCURRENT,"MotorPoolerOverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_MOTOR_OVERCURRENT,"MotorDispenser1OverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_MOTOR_OVERCURRENT,"MotorDispenser2OverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_MOTOR_OVERCURRENT,"MotorDispenser3OverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_MOTOR_OVERCURRENT,"MotorDispenser4OverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_MOTOR_OVERCURRENT,"MotorDispenser5OverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_MOTOR_OVERCURRENT,"MotorDispenser6OverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_MOTOR_OVERCURRENT,"MotorDispenser7OverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_MOTOR_OVERCURRENT,"MotorDispenser8OverCurrent"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DRYER_MOTOR_OVERTEMPERATURE,"MotorDryerOverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__FEEDER_MOTOR_OVERTEMPERATURE,"MotorFeederOverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,        HARDWARE_MOTOR_TYPE__MOTO_SCREW,        x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__SCREW_MOTOR_OVERTEMPERATURE,"MotorScrewOverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,       HARDWARE_MOTOR_TYPE__MOTO_WINDER,       x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__WINDER_MOTOR_OVERTEMPERATURE,"MotorWinderOverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__PULLER_MOTOR_OVERTEMPERATURE,"MotorPoolerOverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_MOTOR_OVERTEMPERATURE,"MotorDispenser1OverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_MOTOR_OVERTEMPERATURE,"MotorDispenser2OverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_MOTOR_OVERTEMPERATURE,"MotorDispenser3OverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_MOTOR_OVERTEMPERATURE,"MotorDispenser4OverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_MOTOR_OVERTEMPERATURE,"MotorDispenser5OverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_MOTOR_OVERTEMPERATURE,"MotorDispenser6OverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_MOTOR_OVERTEMPERATURE,"MotorDispenser7OverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_MOTOR_OVERTEMPERATURE,"MotorDispenser8OverTemperature"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DRYER_MOTOR_UNDERVOLTAGE,"MotorDryerUnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__FEEDER_MOTOR_UNDERVOLTAGE,"MotorFeederUnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,        HARDWARE_MOTOR_TYPE__MOTO_SCREW,        x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__SCREW_MOTOR_UNDERVOLTAGE,"MotorScrewUnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,       HARDWARE_MOTOR_TYPE__MOTO_WINDER,       x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__WINDER_MOTOR_UNDERVOLTAGE,"MotorWinderUnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__PULLER_MOTOR_UNDERVOLTAGE,"MotorPoolerUnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_MOTOR_UNDERVOLTAGE,"MotorDispenser1UnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_MOTOR_UNDERVOLTAGE,"MotorDispenser2UnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_MOTOR_UNDERVOLTAGE,"MotorDispenser3UnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_MOTOR_UNDERVOLTAGE,"MotorDispenser4UnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_MOTOR_UNDERVOLTAGE,"MotorDispenser5UnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_MOTOR_UNDERVOLTAGE,"MotorDispenser6UnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_MOTOR_UNDERVOLTAGE,"MotorDispenser7UnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_MOTOR_UNDERVOLTAGE,"MotorDispenser8UnderVoltage"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DRYER_MOTOR_STALL,"MotorDryerStall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__FEEDER_MOTOR_STALL,"MotorFeederStall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,        HARDWARE_MOTOR_TYPE__MOTO_SCREW,        x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__SCREW_MOTOR_STALL,"MotorScrewStall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,       HARDWARE_MOTOR_TYPE__MOTO_WINDER,       x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__WINDER_MOTOR_STALL,"MotorWinderStall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__PULLER_MOTOR_STALL,"MotorPoolerStall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_MOTOR_STALL,"MotorDispenser1Stall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_MOTOR_STALL,"MotorDispenser2Stall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_MOTOR_STALL,"MotorDispenser3Stall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_MOTOR_STALL,"MotorDispenser4Stall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_MOTOR_STALL,"MotorDispenser5Stall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_MOTOR_STALL,"MotorDispenser6Stall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_MOTOR_STALL,"MotorDispenser7Stall"},
- {eOneSecond,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_MOTOR_STALL,"MotorDispenser8Stall"},
- {eHundredMillisecond,TemperatureAlarm,MIXER_PT100,   HARDWARE_PID_CONTROL_TYPE__MixerHeater        ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__MIXER_OVERTEMPERATURE,"Mixer Over Temperature"},
- {eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_1_OVERTEMPERATURE,"DyeingHead1 Over Temperature"},
- {eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_2_OVERTEMPERATURE,"DyeingHead2 Over Temperature"},
- {eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_3_OVERTEMPERATURE,"DyeingHead3 Over Temperature"},
- {eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_4_OVERTEMPERATURE,"DyeingHead4 Over Temperature"},
- {eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_5_OVERTEMPERATURE,"DyeingHead5 Over Temperature"},
- {eHundredMillisecond,TemperatureAlarm,HEAD6_PT100, HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_6_OVERTEMPERATURE,"DyeingHead6 Over Temperature"},
- {eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,  HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DRYER_ZONE_1_OVERTEMPERATURE,"Dryer Over Temperature"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__LimitSwitchAlarm,LimitSwitchAlarmEmpty_1,0,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_1_EMPTY,"Dispenser 1 Empty"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__LimitSwitchAlarm,LimitSwitchAlarmEmpty_2,1,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_2_EMPTY,"Dispenser 2 Empty"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__LimitSwitchAlarm,LimitSwitchAlarmEmpty_3,2,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_3_EMPTY,"Dispenser 3 Empty"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__LimitSwitchAlarm,LimitSwitchAlarmEmpty_4,3,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_4_EMPTY,"Dispenser 4 Empty"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__LimitSwitchAlarm,LimitSwitchAlarmEmpty_5,4,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_5_EMPTY,"Dispenser 5 Empty"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__LimitSwitchAlarm,LimitSwitchAlarmEmpty_6,5,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_6_EMPTY,"Dispenser 6 Empty"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__LimitSwitchAlarm,LimitSwitchAlarmEmpty_7,6,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_7_EMPTY,"Dispenser 7 Empty"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__LimitSwitchAlarm,LimitSwitchAlarmEmpty_8,7,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DISPENSER_8_EMPTY,"Dispenser 8 Empty"},
+
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,0,0,true,true,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_UPPER_HARD_LIMIT,"Dispenser 1 is at the upper limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,1,1,true,true,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_UPPER_HARD_LIMIT,"Dispenser 2 is at the upper limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,2,2,true,true,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_UPPER_HARD_LIMIT,"Dispenser 3 is at the upper limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,3,3,true,true,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_UPPER_HARD_LIMIT,"Dispenser 4 is at the upper limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,4,4,true,true,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_UPPER_HARD_LIMIT,"Dispenser 5 is at the upper limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,5,5,true,true,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_UPPER_HARD_LIMIT,"Dispenser 6 is at the upper limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,6,6,true,true,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_UPPER_HARD_LIMIT,"Dispenser 7 is at the upper limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,7,7,true,true,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_UPPER_HARD_LIMIT,"Dispenser 8 is at the upper limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,0,0,true,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_LOWER_HARD_LIMIT,"Dispenser 1 is at the lower limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,1,1,true,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_LOWER_HARD_LIMIT,"Dispenser 2 is at the lower limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,2,2,true,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_LOWER_HARD_LIMIT,"Dispenser 3 is at the lower limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,3,3,true,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_LOWER_HARD_LIMIT,"Dispenser 4 is at the lower limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,4,4,true,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_LOWER_HARD_LIMIT,"Dispenser 5 is at the lower limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,5,5,true,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_LOWER_HARD_LIMIT,"Dispenser 6 is at the lower limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,6,6,true,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_LOWER_HARD_LIMIT,"Dispenser 7 is at the lower limit"},
+ {eOneSecond,ALARM_SOURCE_TYPE__HardLimitAlarm,7,7,true,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_LOWER_HARD_LIMIT,"Dispenser 8 is at the lower limit"},
+
+ {eOneSecond,ALARM_SOURCE_TYPE__PressureAlarm,0,0,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_1_HIGH_PRESSURE,"Dispenser 1 High Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__PressureAlarm,1,1,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_2_HIGH_PRESSURE,"Dispenser 2 High Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__PressureAlarm,2,2,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_3_HIGH_PRESSURE,"Dispenser 3 High Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__PressureAlarm,3,3,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_4_HIGH_PRESSURE,"Dispenser 4 High Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__PressureAlarm,4,4,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_5_HIGH_PRESSURE,"Dispenser 5 High Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__PressureAlarm,5,5,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_6_HIGH_PRESSURE,"Dispenser 6 High Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__PressureAlarm,6,6,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_7_HIGH_PRESSURE,"Dispenser 7 High Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__PressureAlarm,7,7,5,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,EVENT_TYPE__DISPENSER_8_HIGH_PRESSURE,"Dispenser 8 High Pressure"},
+
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_1_OVERPRESSURE,"Dispenser 1 Over Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_2_OVERPRESSURE,"Dispenser 2 Over Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_3_OVERPRESSURE,"Dispenser 3 Over Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_4_OVERPRESSURE,"Dispenser 4 Over Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_5_OVERPRESSURE,"Dispenser 5 Over Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_6_OVERPRESSURE,"Dispenser 6 Over Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_7_OVERPRESSURE,"Dispenser 7 Over Pressure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_8_OVERPRESSURE,"Dispenser 8 Over Pressure"},
 
- /*{eHundredMillisecond,CoversAlarm,FrontDoor1    ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__FRONT_COVER_1_OPEN,"Front door #1 Open"},
- {eHundredMillisecond,CoversAlarm,FrontDoor2    ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__FRONT_COVER_2_OPEN,"Front door #2 Open"},
- {eHundredMillisecond,CoversAlarm,FrontDoor3    ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__FRONT_COVER_3_OPEN,"Front door #3 Open"},
- {eHundredMillisecond,CoversAlarm,FrontDoor4    ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__FRONT_COVER_4_OPEN,"Front door #4 Open"},
- {eHundredMillisecond,CoversAlarm,RearDoor      ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__REAR_COVER_OPEN,"Rear door Open"},
- {eHundredMillisecond,CoversAlarm,CartridgesDoor,1,false,true,DEBUG_LOG_CATEGORY__Warning,0xFF,5,EVENT_TYPE__CARTRIDGES_COVER_OPEN,"Cartridges door Open"},*/
+ {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,"Motor Drier Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__FEEDER_MOTOR_OVERCURRENT,"Motor Feeder Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,        HARDWARE_MOTOR_TYPE__MOTO_SCREW,        x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__SCREW_MOTOR_OVERCURRENT,"Motor Screw Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,       HARDWARE_MOTOR_TYPE__MOTO_WINDER,       x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__WINDER_MOTOR_OVERCURRENT,"Motor Winder Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__PULLER_MOTOR_OVERCURRENT,"Motor Puller Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_MOTOR_OVERCURRENT,"Motor Dispenser1 Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_MOTOR_OVERCURRENT,"Motor Dispenser2 Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_MOTOR_OVERCURRENT,"Motor Dispenser3 Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_MOTOR_OVERCURRENT,"Motor Dispenser4 Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_MOTOR_OVERCURRENT,"Motor Dispenser5 Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_MOTOR_OVERCURRENT,"Motor Dispenser6 Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_MOTOR_OVERCURRENT,"Motor Dispenser7 Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_MOTOR_OVERCURRENT,"Motor Dispenser8 Over Current"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DRYER_MOTOR_OVERTEMPERATURE,"Motor Drier Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__FEEDER_MOTOR_OVERTEMPERATURE,"Motor Feeder Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,        HARDWARE_MOTOR_TYPE__MOTO_SCREW,        x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__SCREW_MOTOR_OVERTEMPERATURE,"Motor Screw Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,       HARDWARE_MOTOR_TYPE__MOTO_WINDER,       x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__WINDER_MOTOR_OVERTEMPERATURE,"Motor Winder Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__PULLER_MOTOR_OVERTEMPERATURE,"Motor Puller Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_MOTOR_OVERTEMPERATURE,"Motor Dispenser1 Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_MOTOR_OVERTEMPERATURE,"Motor Dispenser2 Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_MOTOR_OVERTEMPERATURE,"Motor Dispenser3 Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_MOTOR_OVERTEMPERATURE,"Motor Dispenser4 Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_MOTOR_OVERTEMPERATURE,"Motor Dispenser5 Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_MOTOR_OVERTEMPERATURE,"Motor Dispenser6 Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_MOTOR_OVERTEMPERATURE,"Motor Dispenser7 Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  x_STATUS_TH_SD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_MOTOR_OVERTEMPERATURE,"Motor Dispenser8 Over Temperature"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DRYER_MOTOR_UNDERVOLTAGE,"Motor Drier Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__FEEDER_MOTOR_UNDERVOLTAGE,"Motor Feeder Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,        HARDWARE_MOTOR_TYPE__MOTO_SCREW,        x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__SCREW_MOTOR_UNDERVOLTAGE,"Motor Screw Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,       HARDWARE_MOTOR_TYPE__MOTO_WINDER,       x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__WINDER_MOTOR_UNDERVOLTAGE,"Motor Winder Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__PULLER_MOTOR_UNDERVOLTAGE,"Motor Puller Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_MOTOR_UNDERVOLTAGE,"Motor Dispenser1 Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_MOTOR_UNDERVOLTAGE,"Motor Dispenser2 Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_MOTOR_UNDERVOLTAGE,"Motor Dispenser3 Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_MOTOR_UNDERVOLTAGE,"Motor Dispenser4 Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_MOTOR_UNDERVOLTAGE,"Motor Dispenser5 Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_MOTOR_UNDERVOLTAGE,"Motor Dispenser6 Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_MOTOR_UNDERVOLTAGE,"Motor Dispenser7 Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  x_STATUS_UVLO,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_MOTOR_UNDERVOLTAGE,"Motor Dispenser8 Under Voltage"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DRYER_MOTOR_STALL,"Motor Drier Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,     x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__FEEDER_MOTOR_STALL,"Motor Feeder Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,        HARDWARE_MOTOR_TYPE__MOTO_SCREW,        x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__SCREW_MOTOR_STALL,"Motor Screw Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,       HARDWARE_MOTOR_TYPE__MOTO_WINDER,       x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__WINDER_MOTOR_STALL,"Motor Winder Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,     x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__PULLER_MOTOR_STALL,"Motor Puller Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_1_MOTOR_STALL,"Motor Dispenser1 Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_2_MOTOR_STALL,"Motor Dispenser2 Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_3_MOTOR_STALL,"Motor Dispenser3 Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_4_MOTOR_STALL,"Motor Dispenser4 Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_5_MOTOR_STALL,"Motor Dispenser5 Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_6_MOTOR_STALL,"Motor Dispenser6 Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_7_MOTOR_STALL,"Motor Dispenser7 Stall"},
+ {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,  x_STATUS_STEP_LOSS_A,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DISPENSER_8_MOTOR_STALL,"Motor Dispenser8 Stall"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__TemperatureAlarm,MIXER_PT100,   HARDWARE_PID_CONTROL_TYPE__MixerHeater        ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__MIXER_OVERTEMPERATURE,"Mixer Over Temperature"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_1_OVERTEMPERATURE,"DyeingHead1 Over Temperature"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_2_OVERTEMPERATURE,"DyeingHead2 Over Temperature"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_3_OVERTEMPERATURE,"DyeingHead3 Over Temperature"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_4_OVERTEMPERATURE,"DyeingHead4 Over Temperature"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_5_OVERTEMPERATURE,"DyeingHead5 Over Temperature"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__TemperatureAlarm,HEAD6_PT100, HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6       ,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_6_OVERTEMPERATURE,"DyeingHead6 Over Temperature"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,  HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature,270,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DRYER_ZONE_1_OVERTEMPERATURE,"Dryer Over Temperature"},
 
- {eOneSecond,TemperatureAlarm,MIXER_PT100,   HARDWARE_PID_CONTROL_TYPE__MixerHeater        ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__MIXER_UNDERTEMPERATURE_A,"Mixer PT100 Not Heating"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_1_UNDERTEMPERATURE_A,"DyeingHead 1 PT100 Not Heating"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_2_UNDERTEMPERATURE_A,"DyeingHead 2 PT100 Not Heating"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_3_UNDERTEMPERATURE_A,"DyeingHead 3 PT100 Not Heating"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_4_UNDERTEMPERATURE_A,"DyeingHead 4 PT100 Not Heating"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_5_UNDERTEMPERATURE_A,"DyeingHead 5 PT100 Not Heating"},
- {eOneSecond,TemperatureAlarm,HEAD6_PT100, HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_6_UNDERTEMPERATURE_A,"DyeingHead 6 PT100 Not Heating"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,  HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_A,"Dryer PT100 Not Heating"},
- {eOneSecond,TemperatureAlarm,MIXER_PT100,   HARDWARE_PID_CONTROL_TYPE__MixerHeater        ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__MIXER_UNDERTEMPERATURE_B,"Mixer PT100 Heating Failure"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_1_UNDERTEMPERATURE_B,"DyeingHead 1 PT100 Heating Failure"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_2_UNDERTEMPERATURE_B,"DyeingHead 2 PT100 Heating Failure"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_3_UNDERTEMPERATURE_B,"DyeingHead 3 PT100 Heating Failure"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_4_UNDERTEMPERATURE_B,"DyeingHead 4 PT100 Heating Failure"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_5_UNDERTEMPERATURE_B,"DyeingHead 5 PT100 Heating Failure"},
- {eOneSecond,TemperatureAlarm,HEAD6_PT100, HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_6_UNDERTEMPERATURE_B,"DyeingHead 6 PT100 Heating Failure"},
- {eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,  HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,"Dryer PT100 Heating Failure"},
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_OVERCURRENT                         ," MotorRightLoaderOverCurrent "                },                                           /* 3004 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_OVERCURRENT                          ," MotorLeftLoaderOverCurrent  "                },                                           /* 3006 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_OVERCURRENT                          ," MotorLoadindARMOverCurrent  "                },                                           /* 3009 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_MOTOR_OVERCURRENT /*EVENT_TYPE__WINDER_DANCER_MOTOR_OVERCURRENT*/                       ," MotorWinderDancerOverCurrent    "            },   /* 3036 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_MOTOR_OVERCURRENT /*EVENT_TYPE__PULLER_DANCER_MOTOR_OVERCURRENT*/                       ," MotorPullerDancerOverCurrent    "            },   /* 3037 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_MOTOR_OVERCURRENT /*EVENT_TYPE__FEEDER_DANCER_MOTOR_OVERCURRENT*/                       ," MotorFeederDancerOverCurrent    "            },   /* 3038 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_MOTOR_OVERCURRENT  /*EVENT_TYPE__DRYER_LID_MOTOR_OVERCURRENT*/                           ," MotorDryerLidOverCurrent    "                },   /* 4017 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_OVERCURRENT                    ," MotorDyeingHeadCoverOverCurrent "            },                                       /* 5031 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_OVERCURRENT       ," MotorDyeingHeadCleaningMechanismOverCurrent "},                                       /* 5035 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_OVERCURRENT            ," MotorDyeingHeadCleaningHeadOverCurrent  "    },                                       /* 5039 */
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__CoversAlarm,FrontDoor1    ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__FRONT_COVER_1_OPEN,"Front door #1 Open"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__CoversAlarm,FrontDoor2    ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__FRONT_COVER_2_OPEN,"Front door #2 Open"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__CoversAlarm,FrontDoor3    ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__FRONT_COVER_3_OPEN,"Front door #3 Open"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__CoversAlarm,FrontDoor4    ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__FRONT_COVER_4_OPEN,"Front door #4 Open"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__CoversAlarm,RearDoor      ,1,false,true,DEBUG_LOG_CATEGORY__Error,  0xFF,5,EVENT_TYPE__REAR_COVER_OPEN,"Rear door Open"},
+ {eHundredMillisecond,ALARM_SOURCE_TYPE__CoversAlarm,CartridgesDoor,1,false,true,DEBUG_LOG_CATEGORY__Warning,0xFF,5,EVENT_TYPE__CARTRIDGES_COVER_OPEN,"Cartridges door Open"},
 
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_OVERTEMPERATURE                     ," MotorRightLoaderOverTemperature "            },                                           /* 3011 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_OVERTEMPERATURE                      ," MotorLeftLoaderOverTemperature  "            },                                           /* 3013 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_OVERTEMPERATURE                      ," MotorLoadArmOverTemperature "                },                                           /* 3016 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_OVERTEMPERATURE                    ," MotorWinderDancerOverTemperature    "        },                                           /* 3039 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_OVERTEMPERATURE                    ," MotorPullerDancerOverTemperature    "        },                                           /* 3040 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_OVERTEMPERATURE                    ," MotorFeederDancerOverTemperature    "        },                                           /* 3041 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_OVERTEMPERATURE                        ," MotorDryerLidOverTemperature    "            },                                           /* 4018 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_OVERTEMPERATURE                ," MotorDyeingHeadCoverOverTemperature "        },                                           /* 5032 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_OVERTEMPERATURE   ," MotorDyeingHeadCleaningOverTemperature  "    },                                           /* 5036 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_OVERTEMPERATURE        ," MotorDyeingHeadCleaningHeadOverTemperature  "},                                           /* 5040 */
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,MIXER_PT100,   HARDWARE_PID_CONTROL_TYPE__MixerHeater        ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__MIXER_UNDERTEMPERATURE_A,"Mixer PT100 Not Heating"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_1_UNDERTEMPERATURE_A,"DyeingHead 1 PT100 Not Heating"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_2_UNDERTEMPERATURE_A,"DyeingHead 2 PT100 Not Heating"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_3_UNDERTEMPERATURE_A,"DyeingHead 3 PT100 Not Heating"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_4_UNDERTEMPERATURE_A,"DyeingHead 4 PT100 Not Heating"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_5_UNDERTEMPERATURE_A,"DyeingHead 5 PT100 Not Heating"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,HEAD6_PT100, HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_6_UNDERTEMPERATURE_A,"DyeingHead 6 PT100 Not Heating"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,  HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_A,"Dryer PT100 Not Heating"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,MIXER_PT100,   HARDWARE_PID_CONTROL_TYPE__MixerHeater        ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__MIXER_UNDERTEMPERATURE_B,"Mixer PT100 Heating Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_1_UNDERTEMPERATURE_B,"DyeingHead 1 PT100 Heating Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_2_UNDERTEMPERATURE_B,"DyeingHead 2 PT100 Heating Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_3_UNDERTEMPERATURE_B,"DyeingHead 3 PT100 Heating Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_4_UNDERTEMPERATURE_B,"DyeingHead 4 PT100 Heating Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_5_UNDERTEMPERATURE_B,"DyeingHead 5 PT100 Heating Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,HEAD6_PT100, HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6       ,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DYEING_HEAD_ZONE_6_UNDERTEMPERATURE_B,"DyeingHead 6 PT100 Heating Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,  HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,"Dryer PT100 Heating Failure"},
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_OVERCURRENT                         ,"Motor RightLoader Over Current"                },                                           /* 3004 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_OVERCURRENT                          ,"Motor LeftLoader Over Current"                },                                           /* 3006 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_OVERCURRENT                          ,"Motor LoadindARM Over Current"                },                                           /* 3009 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_MOTOR_OVERCURRENT /*EVENT_TYPE__WINDER_DANCER_MOTOR_OVERCURRENT*/                       ,"Motor WinderDancer Over Current"            },   /* 3036 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_MOTOR_OVERCURRENT /*EVENT_TYPE__PULLER_DANCER_MOTOR_OVERCURRENT*/                       ,"Motor PullerDancer Over Current"            },   /* 3037 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_MOTOR_OVERCURRENT /*EVENT_TYPE__FEEDER_DANCER_MOTOR_OVERCURRENT*/                       ,"Motor FeederDancer Over Current"            },   /* 3038 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_MOTOR_OVERCURRENT  /*EVENT_TYPE__DRYER_LID_MOTOR_OVERCURRENT*/                           ,"Motor DryerLid Over Current"                },   /* 4017 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_OVERCURRENT                    ,"Motor DyeingHeadCover Over Current" },                                       /* 5031 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_OVERCURRENT       ,"Motor DyeingHeadCleaningMechanism Over Current"},                                       /* 5035 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , x_STATUS_OCD          , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_OVERCURRENT            ,"Motor DyeingHeadCleaningHead Over Current"    },                                       /* 5039 */
 
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , HARDWARE_MOTOR_TYPE__MOTO_RLOADING         ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_STALL                                ," MotorLoadingARMStall     "                   },                                           /* 3018 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , HARDWARE_MOTOR_TYPE__MOTO_LLOADING         ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_STALL                              ," MotorWinderDancesStall  "                    },                                           /* 3020 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM    ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_STALL                                ," MotorLoadingARMStall     "                   },                                           /* 3023 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2         ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_STALL                              ," MotorWinderDancesStall  "                    },                                           /* 3042 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1    ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_STALL                              ," MotorPullerDancerStall  "                    },                                           /* 3043 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , HARDWARE_MOTOR_TYPE__MOTO_RDANCER    ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_STALL                              ," MotorFeederDancerStall  "                    },                                           /* 3044 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID        ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_STALL                                  ," MotorDryerLidStall  "                        },                                           /* 4019 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , HARDWARE_MOTOR_TYPE__MOTO_DH_LID           ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_STALL                          ," MotorDyeingHeadCoverStall   "                },                                           /* 5033 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH     ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_STALL             ," MotorDyeingHeadCleaningMechanismStall   "    },                                           /* 5037 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD     ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_STALL                  ," MotorDryeingHeadCleaningStall   "            },                                           /* 5041 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_OVERTEMPERATURE                     ,"Motor RightLoader Over Temperature"            },                                           /* 3011 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_OVERTEMPERATURE                      ,"Motor LeftLoader Over Temperature"            },                                           /* 3013 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_OVERTEMPERATURE                      ,"Motor LoadArm Over Temperature"                },                                           /* 3016 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_OVERTEMPERATURE                    ,"Motor WinderDancer Over Temperature"        },                                           /* 3039 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_OVERTEMPERATURE                    ,"Motor PullerDancer Over Temperature"        },                                           /* 3040 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_OVERTEMPERATURE                    ,"Motor FeederDancer Over Temperature"        },                                           /* 3041 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_OVERTEMPERATURE                        ,"Motor DryerLid Over Temperature"            },                                           /* 4018 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_OVERTEMPERATURE                ,"Motor DyeingHeadCover Over Temperature"        },                                           /* 5032 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_OVERTEMPERATURE   ,"Motor DyeingHeadCleaning Over Temperature"    },                                           /* 5036 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , x_STATUS_TH_SD        , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_OVERTEMPERATURE        ,"Motor DyeingHeadCleaningHead Over Temperature"},                                           /* 5040 */
 
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_UNDERVOLTAGE                        ," MotorRightLoaderUnderVoltage "               },                                           /* 3025 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_UNDERVOLTAGE                         ," MotorLeftLoaderUnderVoltage "                },                                           /* 3027 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_UNDERVOLTAGE                         ," MotorLoaderARMUnderVoltage  "                },                                           /* 3030 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_UNDERVOLTAGE                       ," MotorWinderDancerUnderVoltage   "            },                                           /* 3045 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_UNDERVOLTAGE                       ," MotorPullerDancerUnderVoltage   "            },                                           /* 3046 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_UNDERVOLTAGE                       ," MotorFeederDancerUnderVoltage   "            },                                           /* 3047 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_UNDERVOLTAGE                           ," MotorDryerLidUnderVoltage   "                },                                           /* 4020 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_UNDERVOLTAGE                   ," MotorDyeingHeadCoverUnderVoltage    "        },                                           /* 5034 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_UNDERVOLTAGE                ," MotorDyeingHeadCleaningUnderVoltage "        },                                           /* 5038 */
- { eOneSecond, MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_UNDERVOLTAGE           ," MotorDyeingHeadCleaningHeadUnderVoltage "    },                                           /* 5042 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , HARDWARE_MOTOR_TYPE__MOTO_RLOADING         ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_STALL                                ,"Motor LoadingARM Stall "                   },                                           /* 3018 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , HARDWARE_MOTOR_TYPE__MOTO_LLOADING         ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_STALL                              ,"Motor WinderDances Stall "                    },                                           /* 3020 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM    ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_STALL                                ,"Motor LoadingARM Stall "                   },                                           /* 3023 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2         ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_STALL                              ,"Motor WinderDances Stall "                    },                                           /* 3042 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1    ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_STALL                              ,"Motor PullerDancer Stall "                    },                                           /* 3043 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , HARDWARE_MOTOR_TYPE__MOTO_RDANCER    ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_STALL                              ,"Motor FeederDancer Stall "                    },                                           /* 3044 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID        ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_STALL                                  ,"Motor DryerLid Stall "                        },                                           /* 4019 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , HARDWARE_MOTOR_TYPE__MOTO_DH_LID           ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_STALL                          ,"Motor DyeingHeadCover Stall "                },                                           /* 5033 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH     ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_STALL             ,"Motor DyeingHeadCleaningMechanism Stall "    },                                           /* 5037 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD     ,x_STATUS_STEP_LOSS_A   , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_STALL                  ,"Motor DryeingHeadCleaning Stall "            },                                           /* 5041 */
 
-// { eOneSecond, CurrentAlarm, HEAD_ZONE_1  , HEAD_ZONE_1  , 312         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_1_CURRENT_OUT_OF_RANGE           ," Head Zone 1 Heater Current Out Of Range "    },                                           /* 5018 */
-// { eOneSecond, CurrentAlarm, HEAD_ZONE_2    , HEAD_ZONE_2    , 187         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_2_CURRENT_OUT_OF_RANGE           ," Head Zone 2 Heater Current Out Of Range "    },                                           /* 5019 */
-// { eOneSecond, CurrentAlarm, HEAD_ZONE_3    , HEAD_ZONE_3    , 187         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_3_CURRENT_OUT_OF_RANGE           ," Head Zone 3 Heater Current Out Of Range "    },                                           /* 5020 */
-// { eOneSecond, CurrentAlarm, HEAD_ZONE_4    , HEAD_ZONE_4    , 312         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_4_CURRENT_OUT_OF_RANGE           ," Head Zone 4 Heater Current Out Of Range "    },                                           /* 5021 */
-// { eOneSecond, CurrentAlarm, HEAD_ZONE_5_6    , HEAD_ZONE_5_6    , 312         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_5_6_CURRENT_OUT_OF_RANGE         ," Head Zone 5-6 Heater Current Out Of Range "    },                                           /* 5022 */
-// { eOneSecond, CurrentAlarm, MIXCHIP        , MIXCHIP        , 187         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__MIXER_CURRENT_OUT_OF_RANGE                        ," Mixer Heater Current Out Of Range "    },                                           /* 6004 */
-// { eOneSecond, CurrentAlarm, DRYER_CURRENT_1, DRYER_CURRENT_1, 1         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DRYER_HEATERS_ZONE_1_CURRENT_OUT_OF_RANGE         ," Drier Heater 1 Current Out Of Range "    },                                           /* 6004 */
-// { eOneSecond, CurrentAlarm, DRYER_CURRENT_2, DRYER_CURRENT_2, 1         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DRYER_HEATERS_ZONE_2_CURRENT_OUT_OF_RANGE         ," Drier Heater 2 Current Out Of Range "    },                                           /* 6004 */
-// {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DYEING_HEAD_THERMAL_CUTOFF,"Dyeing head Thermal Cut-Off"},
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , HARDWARE_MOTOR_TYPE__MOTO_RLOADING        , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__RIGHT_LOADER_MOTOR_UNDERVOLTAGE                        ,"Motor RightLoader Under Voltage"               },                                           /* 3025 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , HARDWARE_MOTOR_TYPE__MOTO_LLOADING        , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LEFT_LOADER_MOTOR_UNDERVOLTAGE                         ,"Motor LeftLoader Under Voltage"                },                                           /* 3027 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM   , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__LOADING_ARM_MOTOR_UNDERVOLTAGE                         ,"Motor LoaderARM Under Voltage"                },                                           /* 3030 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , HARDWARE_MOTOR_TYPE__MOTO_LDANCER2        , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__WINDER_DANCER_MOTOR_UNDERVOLTAGE                       ,"Motor WinderDancer Under Voltage"            },                                           /* 3045 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , HARDWARE_MOTOR_TYPE__MOTO_LDANCER1   , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__PULLER_DANCER_MOTOR_UNDERVOLTAGE                       ,"Motor PullerDancer Under Voltage"            },                                           /* 3046 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , HARDWARE_MOTOR_TYPE__MOTO_RDANCER   , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__FEEDER_DANCER_MOTOR_UNDERVOLTAGE                       ,"Motor FeederDancer Under Voltage"            },                                           /* 3047 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID       , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DRYER_LID_MOTOR_UNDERVOLTAGE                           ,"Motor DryerLid Under Voltage"                },                                           /* 4020 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , HARDWARE_MOTOR_TYPE__MOTO_DH_LID          , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_COVER_MOTOR_UNDERVOLTAGE                   ,"Motor DyeingHeadCover Under Voltage"        },                                           /* 5034 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH    , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_MECHANISM_MOTOR_UNDERVOLTAGE                ,"Motor DyeingHeadCleaning Under Voltage"        },                                           /* 5038 */
+ {eOneSecond, ALARM_SOURCE_TYPE__MotorAlarm, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD    , x_STATUS_UVLO         , FALSE , DEBUG_LOG_CATEGORY__Error , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_CLEANING_HEAD_MOTOR_UNDERVOLTAGE           ,"Motor DyeingHeadCleaningHead Under Voltage"    },                                           /* 5042 */
 
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_BREAK,"Thread Break"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,"Thread Feeder Tension Control Failure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,"Thread Puller Tension Control Failure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,"Thread Winder Tension Control Failure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,"No cone in winder"},
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_1  , HEATER_HEAD_CURRENT_ZONE_1  , 125         , TRUE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_1_CURRENT_OUT_OF_RANGE           ," Head Zone 1 Heater Current Out Of Range"    },                                           /* 5018 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_2    , HEATER_HEAD_CURRENT_ZONE_2    , 187         , TRUE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_2_CURRENT_OUT_OF_RANGE           ," Head Zone 2 Heater Current Out Of Range"    },                                           /* 5019 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_3    , HEATER_HEAD_CURRENT_ZONE_3    , 187         , TRUE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_3_CURRENT_OUT_OF_RANGE           ," Head Zone 3 Heater Current Out Of Range"    },                                           /* 5020 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_4    , HEATER_HEAD_CURRENT_ZONE_4    , 312         , TRUE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_4_CURRENT_OUT_OF_RANGE           ," Head Zone 4 Heater Current Out Of Range"    },                                           /* 5021 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_5_6    , HEATER_HEAD_CURRENT_ZONE_5_6    , 500         , TRUE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_5_6_CURRENT_OUT_OF_RANGE         ," Head Zone 5-6 Heater Current Out Of Range"    },                                           /* 5022 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_MIXCHIP_CURRENT        , HEATER_MIXCHIP_CURRENT        , 187         , TRUE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__MIXER_CURRENT_OUT_OF_RANGE                        ," Mixer Heater Current Out Of Range"    },                                           /* 6004 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_DRYER_CURRENT_1, HEATER_DRYER_CURRENT_1, 800         , TRUE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DRYER_HEATERS_ZONE_1_CURRENT_OUT_OF_RANGE         ," Drier Heater 1 Current Out Of Range"    },                                           /* 6004 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_DRYER_CURRENT_2, HEATER_DRYER_CURRENT_2, 400         , TRUE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DRYER_HEATERS_ZONE_2_CURRENT_OUT_OF_RANGE         ," Drier Heater 2 Current Out Of Range"    },                                           /* 6004 */
 
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DISPENSER_1_OVERPRESSURE,"Dispenser 1 OverPressure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DISPENSER_2_OVERPRESSURE,"Dispenser 2 OverPressure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DISPENSER_3_OVERPRESSURE,"Dispenser 3 OverPressure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DISPENSER_4_OVERPRESSURE,"Dispenser 4 OverPressure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DISPENSER_5_OVERPRESSURE,"Dispenser 5 OverPressure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DISPENSER_6_OVERPRESSURE,"Dispenser 6 OverPressure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DISPENSER_7_OVERPRESSURE,"Dispenser 7 OverPressure"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DISPENSER_8_OVERPRESSURE,"Dispenser 8 OverPressure"},
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_1  , HEATER_HEAD_CURRENT_ZONE_1  , 0         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_1_CURRENT_LOOP_BREAK           ," Head Zone 1 Heater Current Loop Break"    },                                           /* 5018 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_2    , HEATER_HEAD_CURRENT_ZONE_2    , 0         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_2_CURRENT_LOOP_BREAK           ," Head Zone 2 Heater Current Loop Break"    },                                           /* 5019 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_3    , HEATER_HEAD_CURRENT_ZONE_3    , 0         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_3_CURRENT_LOOP_BREAK           ," Head Zone 3 Heater Current Loop Break"    },                                           /* 5020 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_4    , HEATER_HEAD_CURRENT_ZONE_4    , 0         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_4_CURRENT_LOOP_BREAK           ," Head Zone 4 Heater Current Loop Break"    },                                           /* 5021 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_HEAD_CURRENT_ZONE_5_6    , HEATER_HEAD_CURRENT_ZONE_5_6    , 0         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DYEING_HEAD_ZONE_5_6_CURRENT_LOOP_BREAK         ," Head Zone 5-6 Heater Current Loop Break"    },                                           /* 5022 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_MIXCHIP_CURRENT        , HEATER_MIXCHIP_CURRENT        , 0         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__MIXER_CURRENT_LOOP_BREAK                        ," Mixer Heater Current Loop Break"    },                                           /* 6004 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_DRYER_CURRENT_1, HEATER_DRYER_CURRENT_1, 0         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DRYER_HEATERS_ZONE_1_CURRENT_LOOP_BREAK         ," Drier Heater 1 Current Loop Break"    },                                           /* 6004 */
+ {eOneSecond, ALARM_SOURCE_TYPE__CurrentAlarm, HEATER_DRYER_CURRENT_2, HEATER_DRYER_CURRENT_2, 0         , FALSE , DEBUG_LOG_CATEGORY__Warning , 0xFF , 2 , EVENT_TYPE__DRYER_HEATERS_ZONE_2_CURRENT_LOOP_BREAK         ," Drier Heater 2 Current Loop Break"    },                                           /* 6004 */
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DYEING_HEAD_THERMAL_CUTOFF,"Dyeing head Thermal Cut-Off"},
+
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_BREAK,"Thread Break"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,"Thread Feeder Tension Control Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,"Thread Puller Tension Control Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,"Thread Winder Tension Control Failure"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Warning,0xFF,0,EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,"No cone in winder"},
+
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DRYER_DOOR_OPEN,"Dryer Door is open"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__NO_AIR_PRESSURE,"No suction in the waste handling system"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__AIR_FILTER_NOT_INSTALLED,"Air filter missing"},
+ {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Error,0xFF,0,EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT,"Waste Container Emptying Timeout"},
 
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__DRYER_DOOR_OPEN,"Dryer Door is open"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__NO_AIR_PRESSURE,"No suction in the waste handling system"},
- {eOneSecond,DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Safety,0xFF,0,EVENT_TYPE__AIR_FILTER_NOT_INSTALLED,"Air filter missing"},
 };
 
-char AlarmStorePath[25] = "0://SysInfo//AlarmPrm.cfg";
+char AlarmStorePath[25] ="0://SysInfo//AlarmPrm.cfg";
 
-bool DispenserInUse[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
+//bool DispenserInUse[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 bool EventsNotificationRequestAccepted = false;
 //read dispensers limit switches. 25 - send warning. up - stop job and send alarm
 //Cone missing
@@ -337,21 +372,28 @@ void AlarmHandlingInit(void)
 
     return;
 }
+void     AlarmHandlingSetFlags(bool checkHardLimitAlarms,bool checkCurrentAlarms, bool checkTamperAlarms)
+{
+    CheckHardLimitAlarms = checkHardLimitAlarms;
+    CheckCurrentAlarms = checkCurrentAlarms;
+    CheckTamperAlarms = checkTamperAlarms;
+}
+
 JobEndReasonEnum getEndReason(uint32_t AlarmId)
 {
     switch (AlarmItem[AlarmId].AlarmSource)
     {
-        case TemperatureAlarm:
+        case ALARM_SOURCE_TYPE__TemperatureAlarm:
             return JOB_TEMPERATURE_ALARM;
-        case LimitSwitchAlarm:
+        case ALARM_SOURCE_TYPE__LimitSwitchAlarm:
             return JOB_LS_ALARM;
-        case PressureAlarm:
+        case ALARM_SOURCE_TYPE__PressureAlarm:
             return JOB_PRESSURE_ALARM;
-        case CurrentAlarm:
+        case ALARM_SOURCE_TYPE__CurrentAlarm:
             return JOB_CURRENT_ALARM;
-        case MotorAlarm:
+        case ALARM_SOURCE_TYPE__MotorAlarm:
             return JOB_MOTOR_ALARM;
-        case CoversAlarm:
+        case ALARM_SOURCE_TYPE__CoversAlarm:
             return JOB_TAMPER_ALARM;
         default:
             return JOB_OTHER_ALARM;
@@ -363,12 +405,13 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
     //ProcessParameters ProcessParameterZero;
     switch (AlarmItem[AlarmId].AlarmSource)
     {
-        case TemperatureAlarm:
+        case ALARM_SOURCE_TYPE__TemperatureAlarm:
             //need to discover the heater Id and shut it down
             HeaterCommandRequestMessage(AlarmItem[AlarmId].ModuleDeviceId, HEATER_OFF, 0);
             break;
-        case LimitSwitchAlarm:
-        case PressureAlarm:
+        case ALARM_SOURCE_TYPE__LimitSwitchAlarm:
+        case ALARM_SOURCE_TYPE__HardLimitAlarm:
+        case ALARM_SOURCE_TYPE__PressureAlarm:
             if (Severity == DEBUG_LOG_CATEGORY__Info)
             {
                 IDS_Dispenser_Alarm_Off(AlarmItem[AlarmId].ModuleDeviceId);
@@ -378,9 +421,9 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
                 IDS_Dispenser_Alarm_On (AlarmItem[AlarmId].ModuleDeviceId);
             }
             break;
-        case CurrentAlarm:
+        case ALARM_SOURCE_TYPE__CurrentAlarm:
             break;
-        case MotorAlarm:
+        case ALARM_SOURCE_TYPE__MotorAlarm:
             MotorStop(AlarmItem[AlarmId].ModuleDeviceId,Hard_Hiz);
             break;
         default:
@@ -393,7 +436,6 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
         //raise flag fr next job
         break;
     case DEBUG_LOG_CATEGORY__Critical:
-    case DEBUG_LOG_CATEGORY__Safety:
 
 //        watchdogCriticalAlarm = true;
         LOG_ERROR(AlarmId,"Critical Alarm - Watchdog activated to reset  hardware");
@@ -417,35 +459,35 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
         }
         /*switch (AlarmItem[AlarmId].AlarmSource)
         {
-            case TemperatureAlarm:
+            case ALARM_SOURCE_TYPE__TemperatureAlarm:
                 //need to discover the heater Id and shut it down
   //              HeaterCommandRequestMessage(                        HARDWARE_PID_CONTROL_TYPE__MixerHeater, false,
   //                      ProcessParams->mixertemp);
                 break;
-            case LimitSwitchAlarm:
+            case ALARM_SOURCE_TYPE__LimitSwitchAlarm:
                 if ((AlarmItem[AlarmId].EventType>=EVENT_TYPE__Dispenser1Empty)&&(AlarmItem[AlarmId].EventType<=EVENT_TYPE__Dispenser8Empty))
                 {
                     Disp_i = AlarmItem[AlarmId].EventType- EVENT_TYPE__Dispenser1Empty;
                     MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1+Disp_i,Hard_Hiz);
                     if (JobIsActive())
                     {
-                        if (DispenserInUse[Disp_i] == false)
+                        if (DispenserUsedInJob[Disp_i] == false)
                             AlarmItem[AlarmId].Severity = DEBUG_LOG_CATEGORY__Info;
                     }
                 }
                 break;
-            case PressureAlarm:
+            case ALARM_SOURCE_TYPE__PressureAlarm:
                 Disp_i = AlarmItem[AlarmId].EventType- EVENT_TYPE__Dispenser1Pressure;
                 MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1+Disp_i,Hard_Hiz);
                 if (JobIsActive())
                 {
-                    if (DispenserInUse[Disp_i] == false)
+                    if (DispenserUsedInJob[Disp_i] == false)
                         AlarmItem[AlarmId].Severity = DEBUG_LOG_CATEGORY__Info;
                 }
                 break;
-            case CurrentAlarm:
+            case ALARM_SOURCE_TYPE__CurrentAlarm:
                 break;
-            case MotorAlarm:
+            case ALARM_SOURCE_TYPE__MotorAlarm:
                 break;
             default:
                 break;
@@ -463,24 +505,26 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
 }
 JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
 {
-    JobTicket* JobTicket = CurrentJob;
+    //JobTicket* JobTicket = CurrentJob;
     EventType HeaterEventType[MAX_HEATERS_NUM*2] = {EVENT_TYPE__DRYER_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DRYER_ZONE_2_OVERTEMPERATURE,EVENT_TYPE__DRYER_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_1_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_2_OVERTEMPERATURE,
                                                   EVENT_TYPE__DYEING_HEAD_ZONE_3_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_4_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_5_OVERTEMPERATURE,EVENT_TYPE__DYEING_HEAD_ZONE_6_OVERTEMPERATURE,
                                                   EVENT_TYPE__MIXER_OVERTEMPERATURE};
     EventType HeaterEventTypeUnder[MAX_HEATERS_NUM*2] = {EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DRYER_ZONE_2_UNDERTEMPERATURE_B,EVENT_TYPE__DRYER_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_1_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_2_UNDERTEMPERATURE_B,
                                                   EVENT_TYPE__DYEING_HEAD_ZONE_3_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_4_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_5_UNDERTEMPERATURE_B,EVENT_TYPE__DYEING_HEAD_ZONE_6_UNDERTEMPERATURE_B,
                                                   EVENT_TYPE__MIXER_UNDERTEMPERATURE_B};
-    int Segment_i,Brush_i,Dispenser_i,DispenserId,Alarm_i,Heater_i,AlarmId=0;
+    int Dispenser_i,Alarm_i,Heater_i,AlarmId=0;
     HeaterState HeaterState;
 
-    for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
-    {
-        DispenserInUse[Dispenser_i] = false;
-    }
+    //for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+    //{
+    //    DispenserInUse[Dispenser_i] = false;
+    //}
     JobEndReasonEnum status = JOB_OK;
-    if (JobTicket->n_segments == 0)
+    IDS_MapDispenserUsedinJob(CurrentJob);
+    if (n_segments == 0)
         return OK;
-    for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
+
+    /*for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
         {
         for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
             {
@@ -498,11 +542,12 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
                 }//if dispensers
             }//for brush
         }//for segments
+        */
     if (Configured[Module_IDS])
     {
         for (Dispenser_i=0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
         {
-            if (DispenserInUse[Dispenser_i] == true)
+            if (DispenserUsedInJob[Dispenser_i] == true)
             {
                 for (Alarm_i = 0;Alarm_i<MAX_SYSTEM_ALARMS;Alarm_i++)
                 {
@@ -521,7 +566,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
     }
     for (Alarm_i = 0;Alarm_i<MAX_SYSTEM_ALARMS;Alarm_i++)
     {
-        if (AlarmItem[Alarm_i].AlarmSource == CoversAlarm)
+        if (AlarmItem[Alarm_i].AlarmSource == ALARM_SOURCE_TYPE__CoversAlarm)
         {
             if (AlarmState[Alarm_i].Status == true)
             {
@@ -530,7 +575,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
                 break;
             }
         }
-        if (AlarmItem[Alarm_i].AlarmSource == MotorAlarm)
+        if (AlarmItem[Alarm_i].AlarmSource == ALARM_SOURCE_TYPE__MotorAlarm)
         {
             if (AlarmState[Alarm_i].Status == true)
             {
@@ -622,7 +667,6 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
         {
             if (AlarmState[Alarm_i].Status != value)
             {
-                AlarmState[Alarm_i].Status = value;
                 if (value == true)
                 {
                     // no need to call consequent actionsAlarmHandlingConsequentActions(Alarm_i, AlarmItem[Alarm_i].Severity);
@@ -634,12 +678,14 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
                         AlarmState[Alarm_i].EventPtr->has_type = true;
                         AlarmState[Alarm_i].EventPtr->type = AlarmItem[Alarm_i].EventType;
                         AlarmState[Alarm_i].EventPtr->message = AlarmItem[Alarm_i].EventName;
+                        AlarmState[Alarm_i].Status = value;
                         Report("Alarm ON ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
                     }
                 }
                 else
                 {
-                    Report("Alarm ON ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+                    Report("Alarm OFF ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+                    AlarmState[Alarm_i].Status = value;
                     if (AlarmState[Alarm_i].EventPtr)
                         my_free(AlarmState[Alarm_i].EventPtr);
                 }
@@ -678,7 +724,7 @@ uint32_t AlarmHandlingStop(void)
 uint32_t AlarmHandlingLoop(uint32_t tick)
 {
     int Alarm_i;
-    uint32_t value;
+    int32_t value;
     //int32_t ivalue;
     bool Status = false;
     for (Alarm_i = 0;Alarm_i < MAX_SYSTEM_ALARMS;Alarm_i++)
@@ -688,7 +734,7 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
         {
             switch (AlarmItem[Alarm_i].AlarmSource)
             {
-            /*case TemperatureAlarm:
+            /*case ALARM_SOURCE_TYPE__TemperatureAlarm:
                 ivalue = TemperatureSensorRead((TEMPERATURE_SENSOR_ID_ENUM)AlarmItem[Alarm_i].DeviceId);
                 if (AlarmItem[Alarm_i].AlarmDirection == true)
                 {
@@ -707,21 +753,45 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                     }
                 }
                 break;*/
-            case CoversAlarm:
-                value = Get_COVER_1_State(AlarmItem[Alarm_i].DeviceId);
-                if (value == AlarmItem[Alarm_i].AlarmValue)
+            case ALARM_SOURCE_TYPE__CoversAlarm:
+                if (CheckTamperAlarms)
                 {
-                    Status = true;
+                    value = Get_COVER_1_State(AlarmItem[Alarm_i].DeviceId);
+                    if (value == AlarmItem[Alarm_i].AlarmValue)
+                    {
+                        Status = true;
+                    }
+                }
+                else
+                {
+                    value = false;
                 }
                 break;
-            case LimitSwitchAlarm:
+            case ALARM_SOURCE_TYPE__LimitSwitchAlarm:
                 value = IDS_CheckDispenserLimitSwitch((LimitSwitchAlarms)AlarmItem[Alarm_i].DeviceId);
                 if (value == AlarmItem[Alarm_i].AlarmValue)
                 {
                     Status = true;
                 }
                 break;
-            case PressureAlarm:
+            case ALARM_SOURCE_TYPE__HardLimitAlarm:
+                if (CheckHardLimitAlarms)
+                {
+                    if (AlarmItem[Alarm_i].AlarmDirection == true)
+                    {
+                        value = Read_Notification_Disp_UP(AlarmItem[Alarm_i].DeviceId,NULL);
+                    }
+                    else
+                    {
+                        value = Read_Notification_Disp_Down(AlarmItem[Alarm_i].DeviceId,NULL);
+                    }
+                }
+                else
+                {
+                    value = false;
+                }
+                break;
+            case ALARM_SOURCE_TYPE__PressureAlarm:
                 value = GetDispenserPressure(AlarmItem[Alarm_i].DeviceId);
                 if (AlarmItem[Alarm_i].AlarmDirection == true)
                 {
@@ -738,24 +808,31 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                     }
                 }
                 break;
-            case CurrentAlarm:
-                value = Get_Heaters_Current_Integer(AlarmItem[Alarm_i].DeviceId);
-                if (AlarmItem[Alarm_i].AlarmDirection == true)
+            case ALARM_SOURCE_TYPE__CurrentAlarm:
+                if (CheckCurrentAlarms)
                 {
-                    if (value >= AlarmItem[Alarm_i].AlarmValue)
+                    value = Get_Heaters_Current_Integer(AlarmItem[Alarm_i].DeviceId);
+                    if (AlarmItem[Alarm_i].AlarmDirection == true)
                     {
-                        Status = true;
+                        if ((value >= (AlarmItem[Alarm_i].AlarmValue*1.07))||(value <= (AlarmItem[Alarm_i].AlarmValue*0.80)))
+                        {
+                            Status = true;
+                        }
+                    }
+                    else
+                    {
+                        if (value == 0)
+                        {
+                            Status = true;
+                        }
                     }
                 }
                 else
                 {
-                    if (value <= AlarmItem[Alarm_i].AlarmValue)
-                    {
-                        Status = true;
-                    }
+                    value = false;
                 }
                 break;
-            case MotorAlarm:
+            case ALARM_SOURCE_TYPE__MotorAlarm:
                 if (isMotorConfigured((TimerMotors_t)AlarmItem[Alarm_i].DeviceId) == false)
                 {
                     Status = false;
@@ -777,8 +854,25 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                     }
                 }
                 break;
-            case TemperatureAlarm:
-            case DoNotPollAlarm:
+            case ALARM_SOURCE_TYPE__FluidLevelAlarm:
+                value = Get_MidTank_Int100_Sensor(AlarmItem[Alarm_i].DeviceId);
+                if (AlarmItem[Alarm_i].AlarmDirection == OVER_VALUE)
+                {
+                    if (value*100 > AlarmItem[Alarm_i].AlarmValue)
+                    {
+                        Status = true;
+                    }
+                }
+                else
+                {
+                    if (value*100 < AlarmItem[Alarm_i].AlarmValue)
+                    {
+                        Status = true;
+                    }
+                }
+                break;
+            case ALARM_SOURCE_TYPE__TemperatureAlarm:
+            case ALARM_SOURCE_TYPE__DoNotPollAlarm:
                 Status =  AlarmState[Alarm_i].Status;
                 break;
             default:
@@ -927,20 +1021,33 @@ void SendEventNotifications(void)
             response.n_events++;
         }
     }
-    response.events = (Event **)my_malloc(sizeof(Event*)*response.n_events);
-    if(response.events)
+
+    if (response.n_events)
     {
-        for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
+        response.events = (Event **)my_malloc(sizeof(Event*)*response.n_events);
+        if(response.events)
         {
-            if (AlarmState[i].Status == true)
+            for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
             {
-                if (AlarmState[i].EventPtr)
+                if (AlarmState[i].Status == true)
                 {
-                    response.events[e]=AlarmState[i].EventPtr;
-                    e++;
+                    if (AlarmState[i].EventPtr)
+                    {
+                        response.events[e]=AlarmState[i].EventPtr;
+                        e++;
+                    }
                 }
             }
         }
+        else
+        {
+            LOG_ERROR(response.n_events,"events malloc error");
+            return;
+        }
+    }
+    else
+    {
+        response.events = NULL;
     }
     responseContainer = createAllocatedContainer(MESSAGE_TYPE__StartEventsNotificationResponse,  AlarmHandlingToken, false, &response, &start_events_notification_response__pack, &start_events_notification_response__get_packed_size,&alarm_response_buffer);
     responseContainer.continuous = true;
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
index 4f9db2fc1..09dfa3f3d 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
@@ -21,5 +21,6 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob);
 uint32_t StartEventsNotificationRequestFunc(MessageContainer* requestContainer);
 uint32_t StopEventsNotificationRequestFunc(MessageContainer* requestContainer);
 uint32_t ResolveEventRequestFunc(MessageContainer* requestContainer);
+void     AlarmHandlingSetFlags(bool CheckHardLimitAlarms,bool CheckCurrentAlarms, bool checkTamperAlarms);
 
 #endif /* MODULES_ALARMHANDLING_ALARMHANDLING_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 5fe242436..d34ac9ff9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -85,7 +85,7 @@ uint32_t  Dancer_Data[NUM_OF_DANCERS] = {0};
 float  Speed_Data = 0;
 uint32_t DrawerFansStatus = 0;
 uint32_t SystemFansStatus = 0;
-
+uint8_t Gas_PPM = 0;
 
 bool watchdogCriticalAlarm = false;
 
@@ -474,6 +474,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
     if (Hundred_msTick)
     {
         Speed_Data = Calculate_Speed_Sensor_Velocity();
+        Read_Buttons_Reg();
         for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
         {
             MillisecReadFromTempSensor(Sensor_i, NULL);
@@ -483,6 +484,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
             if (watchdogCriticalAlarm == false)
             {
                 Control_WD(ENABLE,5);  //activate heaters/dispenser watchdog, 0.5 seconds
+                //LOG_ERROR (1111, "Control_WD");
             }
         }
     }
@@ -499,9 +501,9 @@ uint32_t MillisecLowLoop(uint32_t tick)
             //Read_MidTank_Pressure_Sensor(Disp_i);
         }
         FPGA_GetAllDispensersValveBusyOCD();
-        /*temp = Read_Fans_Tacho();
+        temp = Read_Fans_Tacho();
         DrawerFansStatus = temp & 0x1F;
-        SystemFansStatus = temp & 0xE0;*/
+        SystemFansStatus = temp & 0xE0;
         KeepAliveOneSecondCall();
         for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
         {
@@ -510,10 +512,11 @@ uint32_t MillisecLowLoop(uint32_t tick)
             if (isMotorConfigured(Motor_i))
                 MotorGetStatusFromFPGA(Motor_i);
         }
-        for (Heater_i = 0;Heater_i < NUM_OF_HEATERS;Heater_i++)
+        for (Heater_i = 0;Heater_i < NUM_OF_CURRENT_HEATERS;Heater_i++)
         {
             Read_Heaters_Current(Heater_i);
         }
+        Gas_PPM = Calculate_Gas_Power_Consumption();
     }
     if (OneMinute_Tick)
     {
@@ -621,6 +624,11 @@ uint32_t getDrawerFansStatus(void)
 {
     return DrawerFansStatus;
 }
+uint8_t getGasReading(void)
+{
+    return Gas_PPM;
+}
+
 uint32_t getSystemFansStatus(void)
 {
     return SystemFansStatus;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index 7e2af1079..064302685 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -32,6 +32,7 @@ uint32_t getADCData(int DeviceId);
 float getSensorSpeedData(void);
 uint32_t getDrawerFansStatus(void);
 uint32_t getSystemFansStatus(void);
+uint8_t getGasReading(void);
 
 void MillisecInit(void);
 void MillisecStop(void);
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
index e3f593924..425894857 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -254,6 +254,12 @@ uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer)
             else
                 Valve_Set(VALVE_MIXCHIP_WASTECH,0);
             break;
+        case INTERFACE_IOS__GPO_BLOWER_PWM:
+            if (request->value == true)
+                Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%();
+            else
+                Control_Dryer_Fan(STOP,0);//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 45db83b83..c936d842c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -67,32 +67,32 @@ int DiagnosticCollectionLimit = 2;  //number of data samples to collect before s
 int DiagnosticLimit =eHundredMillisecond; //frequency of data collection
 int DiagnosticFastLimit = eTenMillisecond; //frequency of data collection
 
-//DigitalPin DigitalPinArray[1][DIAGNOSTICS_LIMIT];
-double dancer1angle[DIAGNOSTICS_LIMIT];
-double dancer2angle[DIAGNOSTICS_LIMIT];
-double dancer3angle[DIAGNOSTICS_LIMIT];
+//DigitalPin DigitalPinArray[1][DIAGNOSTICS_LIMIT+1];
+double dancer1angle[DIAGNOSTICS_LIMIT+1];
+double dancer2angle[DIAGNOSTICS_LIMIT+1];
+double dancer3angle[DIAGNOSTICS_LIMIT+1];
 
-double feedermotorfrequency[DIAGNOSTICS_LIMIT];
-double dryermotor[DIAGNOSTICS_LIMIT];
-double pollermotor[DIAGNOSTICS_LIMIT];
-double windermotor[DIAGNOSTICS_LIMIT];
-double screwmotor[DIAGNOSTICS_LIMIT];
-double mixertemperature[DIAGNOSTICS_LIMIT];
-double headzone1temperature[DIAGNOSTICS_LIMIT];
-double headzone2temperature[DIAGNOSTICS_LIMIT];
-double headzone3temperature[DIAGNOSTICS_LIMIT];
-double headzone4temperature[DIAGNOSTICS_LIMIT];
-double headzone5temperature[DIAGNOSTICS_LIMIT];
-double headzone6temperature[DIAGNOSTICS_LIMIT];
-double dryerzone1temperature[DIAGNOSTICS_LIMIT];
-double dryerzone2temperature[DIAGNOSTICS_LIMIT];
-double dryerzone3temperature[DIAGNOSTICS_LIMIT];
+double feedermotorfrequency[DIAGNOSTICS_LIMIT+1];
+double dryermotor[DIAGNOSTICS_LIMIT+1];
+double pollermotor[DIAGNOSTICS_LIMIT+1];
+double windermotor[DIAGNOSTICS_LIMIT+1];
+double screwmotor[DIAGNOSTICS_LIMIT+1];
+double mixertemperature[DIAGNOSTICS_LIMIT+1];
+double headzone1temperature[DIAGNOSTICS_LIMIT+1];
+double headzone2temperature[DIAGNOSTICS_LIMIT+1];
+double headzone3temperature[DIAGNOSTICS_LIMIT+1];
+double headzone4temperature[DIAGNOSTICS_LIMIT+1];
+double headzone5temperature[DIAGNOSTICS_LIMIT+1];
+double headzone6temperature[DIAGNOSTICS_LIMIT+1];
+double dryerzone1temperature[DIAGNOSTICS_LIMIT+1];
+double dryerzone2temperature[DIAGNOSTICS_LIMIT+1];
+double dryerzone3temperature[DIAGNOSTICS_LIMIT+1];
 
 
-double dispensermotorfrequency[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT];
-double dispenserspressure[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT];
+double dispensermotorfrequency[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT+1];
+double dispenserspressure[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT+1];
 double MidTankpressure[MAX_SYSTEM_DISPENSERS][1];
-double HeatersCurrent[NUM_OF_HEATERS][1];
+double HeatersCurrent[NUM_OF_CURRENT_HEATERS][1];
 
 DoubleArray DispenserFreq[MAX_SYSTEM_DISPENSERS];
 DoubleArray DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS];
@@ -101,14 +101,14 @@ HeaterState **heatersstates;
 HeaterState  HeaterInfo[HEATER_TYPE__MixerHeater+1];
 DigitalInterfaceState **digitalinterfacestates;
 DigitalInterfaceState DigitalOutputState[MAX_HEATERS_NUM+2];
-/*double dispenser1motorfrequency[DIAGNOSTICS_LIMIT];
-double dispenser2motorfrequency[DIAGNOSTICS_LIMIT];
-double dispenser3motorfrequency[DIAGNOSTICS_LIMIT];
-double dispenser4motorfrequency[DIAGNOSTICS_LIMIT];
-double dispenser5motorfrequency[DIAGNOSTICS_LIMIT];
-double dispenser6motorfrequency[DIAGNOSTICS_LIMIT];
-double dispenser7motorfrequency[DIAGNOSTICS_LIMIT];
-double dispenser8motorfrequency[DIAGNOSTICS_LIMIT];
+/*double dispenser1motorfrequency[DIAGNOSTICS_LIMIT+1];
+double dispenser2motorfrequency[DIAGNOSTICS_LIMIT+1];
+double dispenser3motorfrequency[DIAGNOSTICS_LIMIT+1];
+double dispenser4motorfrequency[DIAGNOSTICS_LIMIT+1];
+double dispenser5motorfrequency[DIAGNOSTICS_LIMIT+1];
+double dispenser6motorfrequency[DIAGNOSTICS_LIMIT+1];
+double dispenser7motorfrequency[DIAGNOSTICS_LIMIT+1];
+double dispenser8motorfrequency[DIAGNOSTICS_LIMIT+1];
 */
 Task_Handle Diagnostics_Task_Handle;
 Mailbox_Handle          DiagnosticsMsgQ = NULL;
@@ -183,15 +183,15 @@ void  SetDiagnosticCollectionLimit(int limit)
 }
 
 uint8_t HeaterCounterIndex[MAX_HEATERS_NUM]= {0,0,0,0,0,0,0,0,0,0};
-double HeaterTemperature[MAX_HEATERS_NUM][DIAGNOSTICS_LIMIT];
+double HeaterTemperature[MAX_HEATERS_NUM][DIAGNOSTICS_LIMIT+1];
 uint8_t  DancerCounterIndex[NUM_OF_DANCERS]= {0,0,0};
-double DancerValue[NUM_OF_DANCERS][DIAGNOSTICS_DANCER_LIMIT];
+double DancerValue[NUM_OF_DANCERS][DIAGNOSTICS_DANCER_LIMIT+1];
 int8_t  DancerErrorCounterIndex[NUM_OF_DANCERS]= {0,0,0};
-double DancerErrorValue[NUM_OF_DANCERS][DIAGNOSTICS_DANCER_LIMIT];
+double DancerErrorValue[NUM_OF_DANCERS][DIAGNOSTICS_DANCER_LIMIT+1];
 uint8_t  MotorCounterIndex[MAX_THREAD_MOTORS_NUM]= {0,0,0};
-double MotorValue[MAX_THREAD_MOTORS_NUM][DIAGNOSTICS_LIMIT];
+double MotorValue[MAX_THREAD_MOTORS_NUM][DIAGNOSTICS_LIMIT+1];
 uint8_t  SpeedCounterIndex= 0;
-double SpeedValue[DIAGNOSTICS_DANCER_LIMIT];
+double SpeedValue[DIAGNOSTICS_DANCER_LIMIT+1];
 
 void DiagnosticLoadMotor(int MotorId, int frequency)
 {
@@ -348,7 +348,7 @@ void Diagnostic100msecCollection(void)
         dispenserspressure[i][DiagnosticsIndex] = GetDispenserPressure(i); //Read_MidTank_Pressure_Sensor
         MidTankpressure[i][0] = Get_MidTank_Pressure_Sensor(i);
     }
-    for (i=0;i<NUM_OF_HEATERS;i++)
+    for (i=0;i<NUM_OF_CURRENT_HEATERS;i++)
     {
         HeatersCurrent[i][0] = Get_Heaters_Current(i);
     }
@@ -558,21 +558,21 @@ void SendDiagnostics(void)
     DiagnosticsMonitor.midtank8level = MidTankpressure[7];
 
     DiagnosticsMonitor.n_drierzone1heatercurrent = 1;
-    DiagnosticsMonitor.drierzone1heatercurrent = HeatersCurrent[DRYER_CURRENT_1];
+    DiagnosticsMonitor.drierzone1heatercurrent = HeatersCurrent[HEATER_DRYER_CURRENT_1];
     DiagnosticsMonitor.n_drierzone2heatercurrent = 1;
-    DiagnosticsMonitor.drierzone2heatercurrent = HeatersCurrent[DRYER_CURRENT_2];
+    DiagnosticsMonitor.drierzone2heatercurrent = HeatersCurrent[HEATER_DRYER_CURRENT_2];
     DiagnosticsMonitor.n_mixer1heatercurrent = 1;
-    DiagnosticsMonitor.mixer1heatercurrent = HeatersCurrent[MIXCHIP];
+    DiagnosticsMonitor.mixer1heatercurrent = HeatersCurrent[HEATER_MIXCHIP_CURRENT];
     DiagnosticsMonitor.n_headzone1heatercurrent = 1;
-    DiagnosticsMonitor.headzone1heatercurrent = HeatersCurrent[HEAD_ZONE_1];
+    DiagnosticsMonitor.headzone1heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_1];
     DiagnosticsMonitor.n_headzone2heatercurrent = 1;
-    DiagnosticsMonitor.headzone2heatercurrent = HeatersCurrent[HEAD_ZONE_2];
+    DiagnosticsMonitor.headzone2heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_2];
     DiagnosticsMonitor.n_headzone3heatercurrent = 1;
-    DiagnosticsMonitor.headzone3heatercurrent = HeatersCurrent[HEAD_ZONE_3];
+    DiagnosticsMonitor.headzone3heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_3];
     DiagnosticsMonitor.n_headzone4heatercurrent = 1;
-    DiagnosticsMonitor.headzone4heatercurrent = HeatersCurrent[HEAD_ZONE_4];
+    DiagnosticsMonitor.headzone4heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_4];
     DiagnosticsMonitor.n_headzone5_6heatercurrent = 1;
-    DiagnosticsMonitor.headzone5_6heatercurrent = HeatersCurrent[HEAD_ZONE_5_6];
+    DiagnosticsMonitor.headzone5_6heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_5_6];
 
     response.monitors = &DiagnosticsMonitor;
     //response.digitalpins = DigitalPinArray;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 97bb2e245..f5aec59f6 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -58,7 +58,7 @@ uint32_t HWConfigurationInit(void)
     uint8_t* buffer = NULL;
     uint32_t Bytes = 0,i,j,k=0;
     uint32_t status = OK;
-    UploadHardwareConfigurationRequest* UploadRequest;
+    UploadHardwareConfigurationRequest* UploadRequest=0;
 
     GeneralHwReady = false;
     Control_WD(ENABLE,250);
@@ -175,7 +175,7 @@ uint32_t EmbeddedParametersInit(void)
         LoadConfigurationParameters(Params);
         DataUpdated=true;
         free (buffer);
-        configuration_parameters__free_unpacked(NULL,Params);
+        configuration_parameters__free_unpacked(Params,NULL);
     }
     else
     {
@@ -189,7 +189,11 @@ uint32_t EmbeddedParametersInit(void)
     MidTankPressureCorrection(EmbeddedParameters.midtankpressurecorrection);
     SetDiagnosticCollectionLimit(EmbeddedParameters.diagnosticcollectionlimit);
     ThreadSetBreakSensorLimit(EmbeddedParameters.breaksensorlimit);
-
+    bool a1,a2,a3;
+    a1 = (EmbeddedParameters.generalparameters[0] < 0.5)?false:true;
+    a2 = (EmbeddedParameters.generalparameters[1] < 0.5)?false:true;
+    a3 = (EmbeddedParameters.generalparameters[2] < 0.5)?false:true;
+    AlarmHandlingSetFlags(a1,a2,a3);
 
     return Fresult;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index 0550c8ca7..ee6204060 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -22,10 +22,11 @@
 #include "Modules/Thread/Thread_ex.h"
 
 #include "Modules/General/buttons.h"
+#include "StateMachines/Initialization/PowerOffSequence.h"
 
-int MachineOnOff();
-int ch_to_power_down();
-int ch_to_power_up();
+//int MachineOnOff();
+int PowerDown();
+int PowerUp();
 int thredJog();
 
 
@@ -57,8 +58,8 @@ typedef enum
 
 
 button power , jog, load;
-uint32_t ButtonsCallBackFunction(uint32_t IfIndex, uint32_t ReadValue);
-uint32_t ButtonsCBFunction(uint32_t IfIndex, uint32_t ReadValue);
+uint32_t ButtonPowerCallBackFunction(uint32_t IfIndex, uint32_t ReadValue);
+uint32_t ButtonPowerCBFunction(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t ShortLongOffPB(uint8_t OnOffPB,  button *pBtn);
 uint32_t StateMachine( button *pBtn);
 
@@ -72,6 +73,8 @@ uint32_t joggingMachine(uint8_t OnOffPB,  button *pBtn);
 
 uint32_t ButtonLoadCallBackFunction(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t ButtonLoadCBFunction(uint32_t IfIndex, uint32_t ReadValue);
+uint32_t LoadStatMachine( button *pBtn);
+
 
 /*
 void Power_Reset();
@@ -81,6 +84,21 @@ bool Read_PWR_Button();//TODO move to GPIO folder
 */
 
 
+int PowerDown()
+{
+    bool ret = OK;
+    PowerOffInit();
+
+    return ret;
+}
+
+int PowerUp()
+{
+    bool ret = OK;
+
+    return ret;
+}
+
 
 /*
  * read GPIO status
@@ -89,27 +107,34 @@ bool Read_PWR_Button();//TODO move to GPIO folder
  *
  * return !GPIOstatus
  */
-uint32_t ButtonsCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
+uint32_t ButtonPowerCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
-    if(ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_7))
+   return Read_PWR_Button();
+   /*
+    *
+     if(ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_7))
        return 0x00;
    else
        return 0x01;
+    */
 }
 uint32_t ButtonJogCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
-    if(ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_7))
-       return 0x00;
-   else
-       return 0x01;
+    return Get_Thread_Jogging_Button();
+//
+//    if(ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_7))
+//       return 0x00;
+//   else
+//       return 0x01;
 }
 
 uint32_t ButtonLoadCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
-    if(ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_7))
-       return 0x00;
-   else
-       return 0x01;
+    return Get_Thread_Load_Button();
+//    if(ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_7))
+//       return 0x00;
+//   else
+//       return 0x01;
 }
 
 //uint32_t    AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint16_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 );
@@ -120,7 +145,7 @@ uint32_t ButtonLoadCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
 uint32_t Buttons_Init(void)
 {
 
-    power.bttn_status = 0 ;
+//    power.bttn_status = 0 ;
 //    power.bttn_name = "power";  //option
     power.bttn_status = 0;    // 0=release 1=press
     power.Action = OFFPB ;   //off,short,long,count,replong
@@ -128,10 +153,10 @@ uint32_t Buttons_Init(void)
     power.state = sttOFF; //sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
     power.count = 0;
 
-    AddControlCallback( ButtonsCBFunction, BUTTOMS_SAMPLE_TIME, ButtonsCallBackFunction, 0,0,0 ); // eFiftyMillisecond
+    AddControlCallback( ButtonPowerCBFunction, BUTTOMS_SAMPLE_TIME, ButtonPowerCallBackFunction, 0,0,0 ); // eFiftyMillisecond
 
-    jog.bttn_status = 0 ;
-//    power.bttn_name = "power";  //option
+//    jog.bttn_status = 0 ;
+//    jog.bttn_name = "jog";  //option
     jog.bttn_status = 0;    // 0=release 1=press
     jog.Action = OFFPB ;   //OFFPB,short,long,count,replong
     jog.color = colorOFF;   //colorOFF, BLUE, BLINK,
@@ -139,8 +164,8 @@ uint32_t Buttons_Init(void)
     jog.count = 0;
    AddControlCallback( ButtonJogCBFunction, BUTTOMS_SAMPLE_TIME, ButtonJogCallBackFunction, 0,0,0 ); //
 
-   load.bttn_status = 0 ;
-//    power.bttn_name = "power";  //option
+//   load.bttn_status = 0 ;
+//    load.bttn_name = "load";  //option
    load.bttn_status = 0;    // 0=release 1=press
    load.Action = OFFPB ;   //OFFPB,short,long,count,replong
    load.color = colorOFF;   //colorOFF, BLUE, BLINK,
@@ -153,7 +178,7 @@ return OK;
 
 
 //read the buttons data here and handle
-uint32_t ButtonsCBFunction(uint32_t IfIndex, uint32_t ReadValue)
+uint32_t ButtonPowerCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     ShortLongOffPB(ReadValue,&power);
     return 0;
@@ -169,7 +194,9 @@ uint32_t ButtonJogCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 uint32_t ButtonLoadCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
- //   ShortLongOffPB(ReadValue,&load);
+    uint8_t parameter = 2;
+    REPORT_MSG(parameter," ------------ Start thread loading empty function  ----------------- ");
+    LoadStatMachine(&load);
     return 0;
 }
 
@@ -177,36 +204,6 @@ uint32_t ButtonLoadCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 
 
-//OnOffPB = getPBstatus(POWER_PB);
-
-
-
-/*
- *
- *
- */
-int Get_timer()
-{
-    // to go  timer
-    return 0;
-}
-
-int ClearTimer()
-{
-    //to do clear timer
-    return 0;
-}
-int StartTimer()
-{
-    // to do start timer
-    return 0;
-}
-int StopTimer()
-{
-    // to do start timer
-    return 0;
-}
-
 /* ---------------------------------------------------------
  * --- ShortLongOffPB(int OnOffPB, enum PBstat *ret) ----
  * input:   OnOffPB status(0(pressed) or 1(relesed)
@@ -222,7 +219,6 @@ int StopTimer()
  ------------------------------------------------------------*/
 
 
-//ShortLongOffPB( OnOffPB, &ret)
 
 
 uint32_t ShortLongOffPB(uint8_t OnOffPB,  button *pBtn)
@@ -237,14 +233,16 @@ uint32_t ShortLongOffPB(uint8_t OnOffPB,  button *pBtn)
             if( OnOffPB )
             {
                 pBtn->Action = COUNTPB ;
+                REPORT_MSG(parameter," ------------ Start count PB Power  ----------------- ");
             }
             break;
         case COUNTPB: // last OnOffPBstate was COUNTPB
             if (OnOffPB)
             {
-                if( pBtn->count > 5 ) //250ms
+                if( pBtn->count > 5 ) //5*50ms=250ms
                 {
                     pBtn->Action =  SHORTPB ;
+                    REPORT_MSG(parameter," ------------ Start count PB Power  ----------------- ");
                 }
             }
             else
@@ -259,14 +257,14 @@ uint32_t ShortLongOffPB(uint8_t OnOffPB,  button *pBtn)
                  if (pBtn->count > 100) //5000ms
                  {
                      pBtn->Action =  LONGPB ;
-                     REPORT_MSG(parameter,"Long PB ");
+                     REPORT_MSG(parameter," ------------ Long PB Power  ----------------- ");
                      StateMachine(pBtn);
                      pBtn->count = 0;
                  }
              }
              else
              {
-                 REPORT_MSG(parameter,"Short PB ");
+                 REPORT_MSG(parameter," ------------ Short PB Power  ----------------- ");
                  StateMachine(pBtn);
                  pBtn->count = 0;
                  pBtn->Action =  OFFPB ;
@@ -317,8 +315,9 @@ uint32_t StateMachine( button *pBtn) //short press(=0)/long press(=1)
                 switch (pBtn->Action)
                 {
                     case LONGPB:    //Power Down
-                        pBtn->state = sttOFF;  // todo
-                        REPORT_MSG(parameter,"Power state is OFF ");
+                        pBtn->state = sttOFF;
+                        PowerDown();// todo
+                        REPORT_MSG(parameter," ------------ Power state is OFF  ----------------- ");
                         break;
 //                   case SHORTPB:   //idle ?????
 //                        setMachineStatus = IDLE; // ????/
@@ -335,8 +334,9 @@ uint32_t StateMachine( button *pBtn) //short press(=0)/long press(=1)
 //                        break;
                     case SHORTPB:   //powerup?
                          // to do ?
-                        pBtn->state = sttON;  //todo
-                        REPORT_MSG(parameter,"Power state is ON ");
+                        pBtn->state = sttON;
+                        PowerUp(); //todo
+                        REPORT_MSG(parameter," ------------ Power state is ON  ----------------- ");
                         break;
                     default:
                         break;
@@ -346,14 +346,16 @@ uint32_t StateMachine( button *pBtn) //short press(=0)/long press(=1)
                 switch (pBtn->Action)
                 {
                     case LONGPB:    //Power off from idle
-                        pBtn->state = sttOFF; // todo
+                        pBtn->state = sttOFF;
+                        PowerDown(); // todo
                         Pannel_Leds(POWER_ON_OFF,MODE_OFF); //AVI+ - TODO option MODE_ON to stop Breathing and the led will turn off in power down
-                        REPORT_MSG(parameter,"Power state is OFF ");
+                        REPORT_MSG(parameter," ------------ Power state is OFF  ----------------- ");
                         break;
                     case SHORTPB:   //Wake up from idle
-                        pBtn->state = sttON;// to do ?
+                        pBtn->state = sttON;
+                        PowerUp();  // to do ?
                         Pannel_Leds(POWER_ON_OFF,MODE_ON); //AVI+
-                        REPORT_MSG(parameter,"Power state is ON ");
+                        REPORT_MSG(parameter," ------------ Power state is ON  ----------------- ");
                         break;
                     default:
                         break;
@@ -384,7 +386,10 @@ return 0;
 
 uint32_t    setJoggingEnableCondition( button *pBtn)
 {
+    uint8_t parameter = 3;
+
     if (0
+//         to do : what are the conditions for enable / disable
 //            1.
 //            2.
 //            3.
@@ -392,15 +397,15 @@ uint32_t    setJoggingEnableCondition( button *pBtn)
             )
         {
             pBtn->state = sttDISABLE;
-            REPORT_MSG(pBtn->state,"Jogging : sttDISABLE  ");
-            ThreadAbortJoggingFunc();
+            REPORT_MSG(parameter," ------------ Jogging : sttDISABLE  ----------------- ");
+        //    ThreadAbortJoggingFunc();
         }
 
     else
     {
         pBtn->state = sttENABLE;
-        REPORT_MSG(pBtn->state,"Jogging : sttENABLE  ");
-        ThreadJoggingFunc(40);
+        REPORT_MSG(parameter," ------------ Jogging : sttENABLE  ----------------- ");
+        //ThreadJoggingFunc(40);
     }
 
 return 0;
@@ -421,9 +426,13 @@ return 0;
 
 uint32_t joggingMachine(uint8_t OnOffPB,  button *pBtn)
 {
+
+    uint8_t parameter = 4;
+
     if (sttDISABLE == pBtn->state)
     {
         // jogging is disable
+        REPORT_MSG(parameter," ------------ Jogging is Disable   ----------------- ");
         pBtn->color =  colorOFF;
         Pannel_Leds(THREAD_JOGGING,MODE_OFF);//AVI+
     }
@@ -431,12 +440,14 @@ uint32_t joggingMachine(uint8_t OnOffPB,  button *pBtn)
     {
         if (!OnOffPB)
         {
+            REPORT_MSG(parameter," ------------ stop Jogging    ----------------- ");
             ThreadAbortJoggingFunc(); // to do!!!!
             pBtn->color =  BLUE;
             Pannel_Leds(THREAD_JOGGING,MODE_ON);//AVI+
         }
         else
         {
+            REPORT_MSG(parameter," ------------ start Jogging    ----------------- ");
             pBtn->color =  BLINK;
             ThreadJoggingFunc(40);
         }
@@ -450,9 +461,11 @@ return 0;
 /*------     THREAD LOAD/UNLOAD        ----------*/
 
 
-int LoadStatMachine( PBstat PBAction,  button *pBtn)
+uint32_t LoadStatMachine( button *pBtn)
 {
+    uint8_t parameter = 5;
 
+    REPORT_MSG(parameter," ------------ start loadong    ----------------- ");
     switch (pBtn->state)
     {
         case sttRDY :
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.h b/Software/Embedded_SW/Embedded/Modules/General/buttons.h
index d0cea022c..adf975979 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.h
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.h
@@ -38,9 +38,9 @@ typedef struct Button
 {
     char    bttn_name[10];  //option
     int     bttn_status;    // 0=release 1=press
-    /* enum */ PBstat Action;   //offPB,shortPB,longPB,countPB,replongPB
-    /* enum */ PBcolor color;   //off, blue, blink, bithing
-    /* enum */ PBmachinState state; //sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
+    PBstat  Action;         // enum : offPB,shortPB,longPB,countPB,replongPB
+    PBcolor color;          // enum : off, blue, blink, bithing
+    PBmachinState state;    // enum : sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
     uint32_t count;
 }button;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 458bb35f2..277891861 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -20,6 +20,7 @@
 #include "modules/ids/ids_ex.h"
 #include "third_party/fatfs/src/ffconf.h"
 #include "Common/SWUpdate/FileSystem.h"
+#include "StateMachines/Initialization/PowerIdle.h"
 
 
 
@@ -210,6 +211,7 @@ void ProcessRequestFunc(MessageContainer* requestContainer)
 
 
     //REPORT_MSG (ProcessParams->dryerzone1temp,"Process Params Dryer");
+    PowerIdleOutOfIdleState();
 
     if (status == 0)
         status = HandleProcessParameters(ProcessParams);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 3f62fc3b6..8fe9e5c2e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -90,7 +90,7 @@ uint32_t    SecondDryerHeaterMaxTempControl = 0xFF;
 
 //old uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {DRYER_AIR_PT100,DRYER_MAIN_PT100,DRYER_SECONDARY_PT100,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,TEMP_SENSE_AN_ENCLOSURETEMP3};
 uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {DRYER_AIR_PT100,DRYER_MAIN_PT100,DRYER_SECONDARY_PT100,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,HEAD6_PT100,MIXER_PT100};
-HEATERS_CURRENT HeaterId2CurrentId[MAX_HEATERS_NUM] = {NUM_OF_HEATERS,DRYER_CURRENT_1,DRYER_CURRENT_2,HEAD_ZONE_1,HEAD_ZONE_2,HEAD_ZONE_3,HEAD_ZONE_4,HEAD_ZONE_5_6,HEAD_ZONE_5_6,MIXCHIP};
+HEATERS_CURRENT HeaterId2CurrentId[MAX_HEATERS_NUM] = {NUM_OF_CURRENT_HEATERS,HEATER_DRYER_CURRENT_1,HEATER_DRYER_CURRENT_2,HEATER_HEAD_CURRENT_ZONE_1,HEATER_HEAD_CURRENT_ZONE_2,HEATER_HEAD_CURRENT_ZONE_3,HEATER_HEAD_CURRENT_ZONE_4,HEATER_HEAD_CURRENT_ZONE_5_6,HEATER_HEAD_CURRENT_ZONE_5_6,HEATER_MIXCHIP_CURRENT};
 uint32_t    DryerInternalPT100Id = DRYER_AIR_PT100;
 bool HeatersRestart = false;
 
@@ -385,7 +385,7 @@ uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
         PrepareHeater(HeaterId,Temperature);  //prepare the heaters control info
         //set the power balance handler (if not set yet)
         // if the heater is off (?) start it.
-        ActivateHeater(HeaterId);
+        //ActivateHeater(HeaterId);
         //set the heater operation mode to fast heating - depended on the current temperature
         // timers are prepared but not started yet!!! only when the system is hot.
 
@@ -416,7 +416,7 @@ uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
     }
 
     //usnprintf(ACheatstr, 254, "HeaterCommandRequestMessage(Id %d,OnOff %d,Temperature %d)",HeaterId,  OnOff,  Temperature);
-    Report("HeaterCommandRequestMessage",__FILE__,Temperature,HeaterId,RpWarning,HeaterState,  0);
+    //Report("HeaterCommandRequestMessage",__FILE__,Temperature,HeaterId,RpWarning,HeaterState,  0);
     //Report("HeatersSingleHeaterEnd ", __FILE__,__LINE__,HeaterId, RpMessage, 0, 0);
 
     return OK;
@@ -433,7 +433,7 @@ void PrepareACHeater(int HeaterId,uint32_t Frequency, uint32_t SetTemperatue)
         ControlIdtoHeaterId [HeaterId] = AddControlCallback( HeaterControlCBFunction, Frequency/*eOneSecond*/,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),DryerInternalPT100Id,0);
         //HeaterPreviousRead[HeaterId] = TemperatureSensorRead(DryerInternalPT100Id);
         HeaterPreviousRead[HeaterId] = GetFilteredHeaterRead(HeaterId);//
-        Report("PrepareHeater Read", __FILE__,__LINE__,HeaterId, SetTemperatue, HeaterPreviousRead[HeaterId], 0);
+        //Report("PrepareHeater AC Read", __FILE__,HeaterId, SetTemperatue, RpWarning,HeaterPreviousRead[HeaterId], 0);
         HeaterPreviousRead[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain] =  GetFilteredHeaterRead(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);//TemperatureSensorRead(HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain]);
         HeaterPreviousRead[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary]  = GetFilteredHeaterRead(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);// = TemperatureSensorRead(HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary]);
     }
@@ -497,7 +497,7 @@ int PrepareDCHeater(int HeaterId, uint32_t Frequency, uint32_t SetTemperatue)
         LOG_ERROR (HeaterId,"PT100 not working properly");
         return ERROR;
     }
-    Report("PrepareHeater Read", __FILE__,__LINE__,HeaterId, SetTemperatue, HeaterPreviousRead[HeaterId], 0);
+    //Report("PrepareHeater Read", __FILE__,HeaterId, SetTemperatue, RpWarning,HeaterPreviousRead[HeaterId], 0);
     if (ControlIdtoMaxHeaterId [HeaterId] == 0xFF)
         ControlIdtoMaxHeaterId [HeaterId] = AddControlCallback( DcHeaterMaxTempCBFunction, eOneSecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
 
@@ -658,11 +658,11 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t eadValue)
         {
             if (HeaterMaxTempFlag[index] == true)
             {
-                ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
+               /* ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
                 if (HeaterReady[HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature]==false)
                 {
                     ActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
-                }
+                }*/
        //         LOG_ERROR ((MinreadValue/100), "Heater Cooled Off max temperature, turned on");
             }
             HeaterMaxTempFlag[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain] = false;
@@ -699,6 +699,7 @@ uint32_t DcHeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t eadValue)
             }
         }
         DeActivateHeater(index);
+        HeaterRecalculateHeaterParams(index, 0);
         HeaterMaxTempFlag[index] = true;
         //LOG_ERROR ((MinreadValue/100), "Heater Over the max temperature, turned off");
         Report("Heater Over the max temperature, turned off",__FILE__,__LINE__,index,RpWarning,HeaterPreviousRead[index],  HeaterControl[index].sensormaxvalue);
@@ -778,10 +779,12 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     }
     if (abs(readValue - HeaterPreviousRead[index])>2000)
     {
-        Report("Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index);
+        Report("AC Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index);
         if (readValue > HeaterCmd[index].targettemperatue)
         {
             DeActivateHeater(index);
+            HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain,0);
+            HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary,0);
         }
         return ERROR;
     }
@@ -795,6 +798,8 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                     DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
                     DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
                     //Heaters OFF until coming into the proportional band
+                    HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain,0);
+                    HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary,0);
                     return OK;
                 }
 //        if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100))
@@ -905,7 +910,7 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     }
     if (abs(readValue - HeaterPreviousRead[index])>2000)
     {
-        Report("Temperature Spike",__FILE__,__LINE__,HeaterPreviousRead[index],RpWarning,readValue, index);
+        Report("DC Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index);
         if (readValue > HeaterCmd[index].targettemperatue)
         {
             DeActivateHeater(index);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index d27fb7c56..80a55d63e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -5,6 +5,7 @@
 #include "drivers/motors/motor.h"
 #include "ids_ex.h"
 
+extern uint32_t CurrentDispenserSpeed[MAX_SYSTEM_DISPENSERS];
 extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
 extern float DispenserPressure[MAX_SYSTEM_DISPENSERS];
 uint32_t DispenserConfigMessage(HardwareDispenser * request);
@@ -33,5 +34,9 @@ void IDS_Dispenser_RefillEnded (char DispenserId);
 void IDS_Dispenser_MovingDirection (char DispenserId, bool direction);
 uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback);
 
+uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
+uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
+uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
+uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
 
 #endif  //MODULES_IDS_IDS_H_
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
new file mode 100644
index 000000000..02f25cb59
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -0,0 +1,56 @@
+/*
+ * IDS_Cleaning.c
+ *
+ *  Created on: 18 áîøõ 2019
+ *      Author: User
+ */
+#include "include.h"
+#include "ids.h"
+#include "ids_ex.h"
+#include "../control/control.h"
+#include "../control/pidalgo.h"
+#include "../thread/thread.h"
+#include "PMR/Hardware/Hardwaremotor.pb-c.h"
+#include "PMR/Hardware/HardwareDispenser.pb-c.h"
+#include "StateMachines/Printing/printingSTM.h"
+#include "drivers/motors/motor.h"
+#include "drivers/valves/valve.h"
+
+int SaveLeftRockerSpeed = 50, SaveRightRockerSpeed = 50;
+#define CLEANING_DISPENSER_ID 6
+uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
+{
+    uint32_t status = OK;
+    SaveLeftRockerSpeed = LeftRockerSpeed;
+    SaveRightRockerSpeed = RightRockerSpeed;
+    status |= MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize);
+    status |= MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD, RightRockerSpeed);
+    status |= MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize);
+    status |= MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH, LeftRockerSpeed);
+
+    return status;
+}
+uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback)
+{
+    uint32_t status = OK;
+    status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, SaveRightRockerSpeed,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], callback,timeout);
+    status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, SaveLeftRockerSpeed,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], callback,timeout);
+
+    return status;
+}
+uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback)
+{
+    uint32_t status = OK;
+    status = IDS_Dispenser_Start_Motor_and_Open_Valve(CLEANING_DISPENSER_ID, dispenserSpeed, callback);
+
+    return status;
+
+}
+uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback)
+{
+    uint32_t status = OK;
+    status = IDS_Dispenser_Close_Valve_And_Stop_Motor(CLEANING_DISPENSER_ID,callback);
+
+    return status;
+
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index acaf19744..b33b531a3 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -23,9 +23,9 @@
 
 uint32_t CloseValveTimeout = 250;
 uint32_t OpenValveTimeout = 250;
-#define DISPENSER_BUILD_PRESSURE_SPEED 500
+#define DISPENSER_BUILD_PRESSURE_SPEED 900
 #define DISPENSER_BUILD_PRESSURE_LIMIT 1.5
-#define DISPENSER_BUILD_PRESSURE_TIMEOUT 20000
+#define DISPENSER_BUILD_PRESSURE_TIMEOUT 60000
 #define DISPENSER_BUILD_PRESSURE_LAG 50
 
 uint32_t DispenserPrepareSpeed = DISPENSER_BUILD_PRESSURE_SPEED;
@@ -62,10 +62,15 @@ uint32_t IdsGetMotorSpeed(uint32_t DispenserId)
 
 uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t ReadValue)
  {
+    uint32_t status;
     DispenserPrepareTime[DispenserId]+=DispenserPrepareTimeLag;
 
      if ((GetDispenserPressure(DispenserId)>=DispenserPreparePressure)||(DispenserPrepareTime[DispenserId]>=DispenserPrepareTimeout))
      {
+         if (DispenserPrepareTime[DispenserId]>=DispenserPrepareTimeout)
+             status = ERROR;
+         else
+             status = OK;
          if (SafeRemoveControlCallback(DispenserControlId[DispenserId], IDS_Dispenser_Build_Pressure_Callback )==OK)
              DispenserControlId[DispenserId] = 0xFF;
          else
@@ -76,17 +81,18 @@ uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t Re
 
          if (DispenserCallback[DispenserId])
          {
-             DispenserCallback[DispenserId](DispenserId,ReadValue);
+
+             DispenserCallback[DispenserId](DispenserId,status);
              DispenserCallback[DispenserId] = 0;
          }
      }
-     return OK;
+     return status;
 }
 
  uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback)
 {
     DispenserCallback[DispenserId] = callback;
-    //Report("Control3WayValvesWithCallback called  ",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)0,0);
+    Report("IDS_Dispenser_Build_Pressure called  ",__FILE__,__LINE__,(int)DispenserPrepareSpeed,RpWarning,DispenserPrepareTimeLag,0);
 
     Control3WayValvesWithCallback ((Valves_t)DispenserId, CloseValve, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
     if (DispenserControlId[DispenserId] != 0xFF)
@@ -100,6 +106,7 @@ uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t Re
         //Report("Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
         DispenserPrepareTime[DispenserId]=0;
         TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+        MotorSetDirection(HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
         MotorSetSpeed(HW_Motor_Id, DispenserPrepareSpeed);
         CurrentDispenserSpeed[DispenserId] = DispenserPrepareSpeed;
     }
@@ -231,13 +238,31 @@ void IDS_Dispenser_Content_Init (void)
             IDS_Dispenser_Data[i].has_nanolitterperpulse = true;
         }
         free (buffer);
-        dispenser_data__free_unpacked(NULL,StoredDispenserData);
+        dispenser_data__free_unpacked(StoredDispenserData,NULL);
     }
     return;
 
     //==================================
 }
 uint16_t seconds_counter = 0;
+uint32_t IDS_Dispenser_Store_Data (void)
+{
+    FRESULT Status = FR_OK;
+    IDSDispenserData.n_dispenserinfo = MAX_SYSTEM_DISPENSERS;
+    IDSDispenserData.dispenserinfo = dispenserdata;
+    uint8_t* response_buffer = my_malloc(dispenser_data__get_packed_size(&IDSDispenserData));
+    size_t response_size = 0;
+    if (response_buffer)
+    {
+        response_size = dispenser_data__pack(&IDSDispenserData, response_buffer);
+        Status = FileWrite(response_buffer,response_size,DispenserStorePath);
+        my_free(response_buffer);
+    }
+    else
+        return ERROR;
+
+    return Status;
+}
 void IDS_Dispenser_Content_Calculation (char DispenserId)
 {
     assert (DispenserId<MAX_SYSTEM_DISPENSERS);
@@ -251,24 +276,12 @@ void IDS_Dispenser_Content_Calculation (char DispenserId)
     {
         if (seconds_counter++>=600)//3600)
         {
+            seconds_counter = 0;
             if (IDS_Dispenser_Data[DispenserId].consumedinnanolitter)
             {
                 REPORT_MSG(IDS_Dispenser_Data[DispenserId].consumedinnanolitter,"Saving Dispenser Data" );
             }
-            seconds_counter = 0;
-            IDSDispenserData.n_dispenserinfo = MAX_SYSTEM_DISPENSERS;
-            IDSDispenserData.dispenserinfo = dispenserdata;
-            uint8_t* response_buffer = my_malloc(dispenser_data__get_packed_size(&IDSDispenserData));
-            size_t response_size = 0;
-            if (response_buffer)
-            {
-                response_size = dispenser_data__pack(&IDSDispenserData, response_buffer);
-            }
-
-            FileWrite(response_buffer,response_size,DispenserStorePath);
-            my_free(response_buffer);
-            //dispenser_data__free_unpacked(response_size,NULL);
-
+            IDS_Dispenser_Store_Data();
         }
     }
 }
@@ -278,7 +291,7 @@ void IDS_Dispenser_Set_Flow_Params (char DispenserId,double nanolitterperpulse,c
     IDS_Dispenser_Data[DispenserId].nanolitterperpulse = nanolitterperpulse;
     IDS_Dispenser_Data[DispenserId].microsteps = microsteps;
     IDS_Dispenser_Data[DispenserId].direction = 1;
-    Report("IDS_Dispenser_Set_Flow_Params",__FILE__,DispenserId,(int)nanolitterperpulse,RpWarning,microsteps,0);
+    //Report("IDS_Dispenser_Set_Flow_Params",__FILE__,DispenserId,(int)nanolitterperpulse,RpWarning,microsteps,0);
 }
 void IDS_Dispenser_RefillStarted (char DispenserId)
 {
@@ -287,7 +300,7 @@ void IDS_Dispenser_RefillStarted (char DispenserId)
     IDS_Dispenser_Data[DispenserId].nanolitterperpulse = assumedFlow;
     IDS_Dispenser_Data[DispenserId].microsteps = 1;
     IDS_Dispenser_Data[DispenserId].direction = 0;
-    Report("IDS_Dispenser_RefillStarted",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)(assumedFlow*100),0);
+    //Report("IDS_Dispenser_RefillStarted",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)(assumedFlow*100),0);
 }
 void IDS_Dispenser_RefillEnded (char DispenserId)
 {
@@ -295,7 +308,7 @@ void IDS_Dispenser_RefillEnded (char DispenserId)
     IDS_Dispenser_Data[DispenserId].numberofrefills++;
     IDS_Dispenser_Data[DispenserId].direction = 1;
     IDS_Dispenser_Data[DispenserId].consumedinnanolitter = 0;
-    Report("IDS_Dispenser_RefillEnded",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)IDS_Dispenser_Data[DispenserId].numberofrefills,0);
+    //Report("IDS_Dispenser_RefillEnded",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)IDS_Dispenser_Data[DispenserId].numberofrefills,0);
 }
 void IDS_Dispenser_MovingDirection (char DispenserId, bool direction)
 {
@@ -307,6 +320,6 @@ void IDS_Dispenser_MovingDirection (char DispenserId, bool direction)
     {
         IDS_Dispenser_Data[DispenserId].direction = 0;
     }
-    Report("IDS_Dispenser_MovingDirection",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)direction,0);
+    //Report("IDS_Dispenser_MovingDirection",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)direction,0);
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index bf73ed7fa..9b2442698 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -29,15 +29,25 @@ typedef enum {
       LimitSwitchAlarmLow_8, //MOTO_DISPENSER_8 = 13,
 }LimitSwitchAlarms;
 
+extern bool EnableLubrication;
+extern bool EnableIntersegment;
+extern double IntersegmentLength;
+
+extern bool         DispenserUsedInJob[MAX_SYSTEM_DISPENSERS];
+bool IDS_MapDispenserUsedinJob(void *JobDetails);
+
 void IDS_ModuleInit (void);
 void Calculateinit(void);
 void IDS_Dispenser_Content_Init (void);
 
 uint32_t IDSPrepareState(void *JobDetails);
-uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId);
-uint32_t IDSSegmentState(void *JobDetails, int SegmentId);
+uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId);
+uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId);
 uint32_t IDSDistanceToSpoolState(void);
-uint32_t IDSEndState(void *JobDetails);
+uint32_t IDSEndState(void);
+
+uint32_t IDS_StartLubrication(void);
+uint32_t IDS_StopLubrication(void);
 
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request);
 uint32_t IDS_DispenserControlInit();
@@ -49,6 +59,7 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t deviceID);
 uint32_t IDS_Dispenser_Alarm_Off (uint8_t deviceID);
 
 uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id);
+uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback);
 
 void IDS_Dispenser_SetTimeOutValues(uint32_t CloseTimeout, uint32_t OpenTimeout);
 void IDS_Dispenser_SetBackLashValues(double   initialdispenserpressure,   uint32_t initialdispensertimeout,   uint32_t initialdispensertimelag);
@@ -58,7 +69,9 @@ uint32_t IDS_Dispenser_Close_Valve_And_Stop_Motor(int DispenserId, callback_fptr
 uint32_t IDS_Dispenser_Start_Motor_and_Open_Valve(int DispenserId, int MotorSpeed, callback_fptr callback);
 
 void IDS_Dispenser_Content_Calculation (char DispenserId);
+uint32_t IDS_Dispenser_Store_Data (void);
 
+uint32_t IDS_MapDispenserUsedinFileJob(void *JobDetails);
 
 float CalculateDispenserPressure (int DispenserId);
 float GetDispenserPressure(int DispenserId);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index db5d2738e..1bdf15b29 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -62,8 +62,8 @@ callback_fptr HomingRequestCallback[MAX_SYSTEM_DISPENSERS]={0,0,0,0,0,0,0,0};
 bool HomingActive[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 uint32_t DispenserHomingControlId[MAX_SYSTEM_DISPENSERS] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
 uint32_t DispenserHomingTime[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
-#define INITIAL_DISPENSER_PRESSURE 0.10
-#define INITIAL_DISPENSER_TIMEOUT_LIMIT 10000
+#define INITIAL_DISPENSER_PRESSURE 2.10
+#define INITIAL_DISPENSER_TIMEOUT_LIMIT 60000
 #define INITIAL_DISPENSER_TIMEOUT 100
 
 double   InitialDispenserPressure = INITIAL_DISPENSER_PRESSURE;
@@ -147,7 +147,7 @@ uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr ca
         //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);
+        MotorSetMicroStep(MotorId, 1);
         SysCtlDelay(180000);
         //open dry air valve in the dispenser
         Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_ON);
@@ -168,6 +168,7 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t deviceID)
     Enable_MidTank_Pressure_Reading(deviceID);
     status |= MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
     status |= MotorStop(deviceID, Hard_Hiz);
+    JobEndReason = JOB_OUT_OF_DYE;
     return status;
 }
 uint32_t IDS_Dispenser_Alarm_Off (uint8_t deviceID)
@@ -192,7 +193,8 @@ uint32_t IDS_StopHomeDispenser (uint32_t deviceID)
     Disable_MidTank_Pressure_Reading(deviceID);
     Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_OFF);
     Control3WayValvesWithCallback ((Valves_t)deviceID, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-    MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep);
+
+    MotorSetMicroStep(MotorId, MotorsCfg[MotorId].microstep);
     return OK;
 }
 
@@ -232,7 +234,7 @@ uint32_t IDS_EmptyDispenser (uint32_t deviceID, uint32_t speed , callback_fptr c
         //open dispenser valve dispenser to midtank direction
         Control3WayValvesWithCallback ((Valves_t)deviceID, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
         //Valve_Set((Valves_t) request->index, Dispenser_Mixer);
-        MotorSetMicroStep(deviceID, 1);
+        MotorSetMicroStep(MotorId, 1);
         SysCtlDelay(180000);
         //open dry air valve in the dispenser
         //Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_ON);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 2be233962..2a8cac415 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -7,14 +7,23 @@
 #include "ids.h"
 #include "ids_ex.h"
 #include "../control/control.h"
+#include "../general/process.h"
 #include "../control/pidalgo.h"
 #include "../thread/thread.h"
 #include "PMR/Hardware/Hardwaremotor.pb-c.h"
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "PMR/Printing/JobUploadStrategy.pb-c.h"
+#include "PMR/Printing/JobSegment.pb-c.h"
+#include "PMR/Printing/JobTicket.pb-c.h"
 #include "StateMachines/Printing/printingSTM.h"
 #include "drivers/motors/motor.h"
 #include "drivers/valves/valve.h"
 
+#include "Common/SWUpdate/FileSystem.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
+
 #include "modules/heaters/heaters.h"
 
 #include "drivers/Flash_ram/FlashProgram.h"
@@ -31,11 +40,13 @@ typedef struct
     PID_Config_Params   m_params;
 }DispenserControlConfig_t;
 HardwarePidControl *DispensersControl;// = (HardwarePidControl *)GENHWCFG_MAP_IN_FLASH + 0x4000;
-
+#define LUBRICANT_DISPENSER 7
+#define CLEANER_DISPENSER 6
+#define MAX_DYE_DISPENSERS 6
 int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
 int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
 double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
-
+double lubricant_speed = 0.0;
 HardwarePidControlType ThreadDispenserIdToControlId[MAX_SYSTEM_DISPENSERS] = {  HARDWARE_PID_CONTROL_TYPE__Dispenser1,HARDWARE_PID_CONTROL_TYPE__Dispenser2,HARDWARE_PID_CONTROL_TYPE__Dispenser3,HARDWARE_PID_CONTROL_TYPE__Dispenser4,HARDWARE_PID_CONTROL_TYPE__Dispenser5,HARDWARE_PID_CONTROL_TYPE__Dispenser6,HARDWARE_PID_CONTROL_TYPE__Dispenser7,HARDWARE_PID_CONTROL_TYPE__Dispenser8};
 
 bool    DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
@@ -43,7 +54,8 @@ bool IDS_Active = false;
 /******************** STRUCTURES AND ENUMs  ********************************************/
 uint32_t IDS_Valve_DistanceToSpoolReady(uint32_t deviceID, uint32_t ReadValue);
 uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue);
-bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId);
+uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue);
+//bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId);
 /******************** GLOBAL PARAMETERS  ********************************************/
 DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
 uint32_t    ControlIdtoDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
@@ -54,6 +66,18 @@ bool         DispenserDistanceToSpoolReady[MAX_SYSTEM_DISPENSERS] = {true,true,t
 bool         DispenserUsedInJob[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 bool         DispensersAlarmState[ MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 int JobBrushStopId = 0;
+int lInterSegmentLength = 0;
+ int InterSegmentStepsLimit = 0,InterSegmentStepsCount = 0;
+ uint32_t InterSegmentStartSprayCleaner;
+ uint32_t InterSegmentStartRocking;
+ uint32_t InterSegmentCenterRockers;
+ uint32_t InterSegmentStartWFCFDispensers;
+ bool EnableCleaning = true;
+
+
+ uint32_t DispenserPreSegmentControlId = 0xFF;
+ uint32_t BrushStopControlId = 0xFF;
+ uint32_t PreSegmentControlId = 0xFF;
 
 uint32_t IDS_DispenserControlInit()
 {
@@ -120,7 +144,7 @@ void DispenserPrepareReady(void)
             return; //not all configured Dispensers are ready
         }
     }
-    REPORT_MSG(Module_IDS,"DispenserPrepareReady");
+    REPORT_MSG(Module_IDS,"All Dispensers Prepare Ready");
     PrepareReady(Module_IDS,ModuleDone);
 }
 //********************************************************************************************************************
@@ -135,38 +159,306 @@ void DispenserPrepareReady(void)
 
      return OK; // all configured heaters are ready
  }
- bool IDS_MapDispenserUsedinJob(void *JobDetails)
+/*
+ void OpenJobFile();
+void CloseJobFile();
+JobDescriptionFileSegment *GetNextSegmentFromJobFile();
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment);
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile();
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop);
+
+ */
+ /************************************************************************************************************************************/
+ uint32_t IDS_MapDispenserUsedinFileJobshort(void *JobDetails)
  {
      JobTicket* JobTicket = JobDetails;
-     int Dispenser_i, Segment_i,Brush_i,DispenserId;
+     JobDescriptionFileBrushStop *BrushStop;
+     JobDescriptionFileSegment *Segment;
+     int Dispenser_i, Brush_i,DispenserId;
+     FRESULT Fresult = FR_OK;
+     uint32_t status = OK;
 
      for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
          DispenserUsedInJob[Dispenser_i] = false;
      }
-     if (JobTicket->n_segments == 0)
-         return false;
+     if (EnableCleaning == true)
+         DispenserUsedInJob[CLEANER_DISPENSER] = true;
+     if (JobTicket->enablelubrication == true)
+         DispenserUsedInJob[LUBRICANT_DISPENSER] = true;
 
-     for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
+     Fresult = OpenJobFile();
+     if (Fresult == FR_OK)
+     {
+         Segment = GetNextSegmentFromJobFile();
+         while(Segment)
          {
-         for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
+             if ((Segment->has_brushstopscount)&&(Segment->brushstopscount))
              {
-                 if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers)
+                 for (Brush_i=0;Brush_i<Segment->brushstopscount;Brush_i++)
                  {
-                     for (Dispenser_i = 0;Dispenser_i < JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers;Dispenser_i++)
+                     BrushStop = GetNextBrushStopFromJobFile();
+                     if (BrushStop)
                      {
-                         //prepare the SW structures
-                         DispenserId = JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->index;
-                         if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                         if (BrushStop->n_dispensers)
+                         {
+                             for (Dispenser_i = 0;Dispenser_i < BrushStop->n_dispensers;Dispenser_i++)
+                             {
+                                 //prepare the SW structures
+                                 DispenserId = BrushStop->dispensers[Dispenser_i]->index;
+                                 if (BrushStop->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                                 {
+                                     DispenserUsedInJob[DispenserId] = true;
+                                     /*if(DispenserId == LUBRICANT_DISPENSER)
+                                     {
+                                        lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
+                                                         JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
+                                        REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                                     }*/
+                                 }
+                             }//for dispenser
+                         }//if dispensers
+                         else
                          {
-                             DispenserUsedInJob[DispenserId] = true;
+                             LOG_ERROR (BrushStop->index, "no dispensers in brushstop");
                          }
-                     }//for dispenser
-                 }//if dispensers
-             }//for brush
-         }//for segments
+                         FreeBrushStopFileData(BrushStop);
+                         BrushStop = NULL;
+                     }
+                     else
+                     {
+                         LOG_ERROR (BrushStop, "malloc error");
+                         status = ERROR;
+                     }
+                 }//for brushstops
+             }// if brush stop count
+             FreeSegmentFileData(Segment);
+             Segment = GetNextSegmentFromJobFile();
+         }
+         FreeSegmentFileData(Segment);
+         CloseJobFile();
+     }
+     return status;
+
+ }
+ /************************************************************************************************************************************/
+ uint32_t IDS_MapDispenserUsedinFileJob(void *JobDetails)
+ {
+     JobTicket* JobTicket = JobDetails;
+     uint8_t *SegmentPtr = 0, *BrushStopPtr = 0;
+     JobDescriptionFileBrushStop *BrushStop;
+     JobDescriptionFileSegment *Segment;
+     int Dispenser_i, Brush_i,DispenserId;
+     uint32_t Bytes = 0,readBytes = 0,ImmediateRead = 0,SegmentSize = 0,BrushStopSize = 0;
+     uint32_t status = OK;
+     FRESULT Fresult = FR_OK;
+     FIL *FileHandle = 0;  //the system supports a single active file
+
+/*
+ Parsing the job description file.
+The job description file simply contains an array of segments and their brush stops.
+The job description file is meant to be read brush stop by brush stop while the job is in progress.
+The following diagram represents a single job description file segment structure.
+The process of reading the whole file is simply repeating that reading order.
+
+Each JobDescriptionFileSegment contains a “BrushStopsCount” field that should be used to determine how many brush stops are associated
+with the current segment and how many times the process of reading brush stops should be repeated.
+1. 32bit integer containing the next JobFileDescriptionSegment message byte count
+2. JobDescriptionFileSegment message
+3. 32bit integer containing the next JobDescriptionFileBrushStop message byte count
+4. JobDescriptionFileBrushStop message
+
+1.  Read segment message length.
+2.  Read segment message.
+a.  Read brush stop message length.
+b.  Read brush stop message.
+c.  Go to step 2.a x Segment.BrushStopsCount.
+3.  Go to step 1 until end of file.
+ */
+     for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+     {
+         DispenserUsedInJob[Dispenser_i] = false;
+     }
+     n_segments = 0;
+     if (EnableCleaning == true)
+         DispenserUsedInJob[CLEANER_DISPENSER] = true;
+     if (JobTicket->enablelubrication == true)
+         DispenserUsedInJob[LUBRICANT_DISPENSER] = true;
+     if (JobTicket->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+     {
+         FileHandle = my_malloc(sizeof(FIL));
+
+         Fresult = FileOpen(JobTicket->jobdescriptionfile, &Bytes, FileHandle);
+         if (Fresult == FR_OK)
+         {
+             while((readBytes < Bytes)&&(status == OK))
+             {
+                 Fresult = f_read(FileHandle,&SegmentSize,4,&ImmediateRead );
+                 if (Fresult == FR_OK)
+                 {
+                     readBytes += ImmediateRead;
+                     SegmentPtr = my_malloc (SegmentSize);
+                     if (SegmentPtr)
+                     {
+                         Fresult = f_read(FileHandle,SegmentPtr,SegmentSize,&ImmediateRead );
+                         if (Fresult == FR_OK)
+                         {
+                             readBytes += ImmediateRead;
+                             n_segments++;
+                             Segment = job_description_file_segment__unpack(NULL, SegmentSize, SegmentPtr);
+                             if ((Segment->has_brushstopscount)&&(Segment->brushstopscount))
+                             {
+                                 REPORT_MSG (Segment->brushstopscount, "Segment->brushstopscount");
+                                 for (Brush_i=0;Brush_i<Segment->brushstopscount;Brush_i++)
+                                 {
+                                     if (status == ERROR)
+                                         break;
+                                     Fresult = f_read(FileHandle,&BrushStopSize,4,&ImmediateRead );
+                                     if (Fresult == FR_OK)
+                                     {
+                                         readBytes += ImmediateRead;
+                                         BrushStopPtr = my_malloc (BrushStopSize);
+                                         if (BrushStopPtr)
+                                         {
+                                             Fresult = f_read(FileHandle,BrushStopPtr,BrushStopSize,&ImmediateRead );
+                                             if (Fresult == FR_OK)
+                                             {
+                                                 readBytes += ImmediateRead;
+                                                 BrushStop = job_description_file_brush_stop__unpack(NULL, BrushStopSize, BrushStopPtr);
+                                                 REPORT_MSG (BrushStopSize, "BrushStop");
+                                                 if (BrushStop->n_dispensers)
+                                                 {
+                                                     for (Dispenser_i = 0;Dispenser_i < BrushStop->n_dispensers;Dispenser_i++)
+                                                     {
+                                                         //prepare the SW structures
+                                                         DispenserId = BrushStop->dispensers[Dispenser_i]->index;
+                                                         if (BrushStop->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                                                         {
+                                                             DispenserUsedInJob[DispenserId] = true;
+                                                         }
+                                                     }//for dispenser
+                                                 }//if dispensers
+                                                 else
+                                                 {
+                                                     LOG_ERROR (BrushStop->index, "no dispensers in brushstop");
+                                                 }
+                                                 job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+                                                 BrushStop = NULL;
+                                             } //read brush stop data
+                                             else
+                                             {
+                                                 LOG_ERROR (Fresult, "f_read error");
+                                                 status = ERROR;
+                                             }
+                                             my_free(BrushStopPtr);
+                                             BrushStopPtr = NULL;
+                                         }//brushstop malloc ok
+                                         else
+                                         {
+                                             LOG_ERROR (BrushStopPtr, "malloc error");
+                                             status = ERROR;
+                                         }
+                                     }//brushstop size read ok
+                                     else
+                                     {
+                                         LOG_ERROR (Fresult, "f_read error");
+                                         status = ERROR;
+                                     }
+                                 }//for brushstops
+                             }// if brush stop count
+                             else
+                             {
+                                 LOG_ERROR (0, "no brushstops error");
+                                 status = ERROR;
+                             }
+                             job_description_file_segment__free_unpacked(Segment,NULL);
+                             Segment = NULL;
+                         }// read segment data
+                         my_free(SegmentPtr);
+                         SegmentPtr = NULL;
+                         Task_sleep(10);
+                     }//segment malloc
+                     else
+                     {
+                         LOG_ERROR (SegmentPtr, "malloc error");
+                         status = ERROR;
+                     }
+                 }//segment read size
+                 else
+                 {
+                     LOG_ERROR (Fresult, "f_read error");
+                     status = ERROR;
+                 }
+             }//while(readBytes < Bytes)
+         }
+         else
+         {
+             LOG_ERROR (Fresult, "FileOpen error");
+             status = ERROR;
+         }
+     }//file job
+
+     if (SegmentPtr)
+         my_free(SegmentPtr);
+     if (BrushStopPtr)
+         my_free(BrushStopPtr);
+     if (Segment != NULL)
+             job_description_file_segment__free_unpacked(Segment,NULL);
+     if (BrushStop != NULL)
+         job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+     Fresult = f_close(FileHandle);
+     REPORT_MSG (n_segments, "Finished checking the file");
+     return status;
+
+ }
+/************************************************************************************************************************************/
+ bool IDS_MapDispenserUsedinJob(void *JobDetails)
+ {
+     JobTicket* JobTicket = JobDetails;
+     int Dispenser_i, Segment_i,Brush_i,DispenserId;
+
+     if (JobTicket->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+     {
+         return (IDS_MapDispenserUsedinFileJob(JobDetails));
+         //return (IDS_MapDispenserUsedinFileJobshort(JobDetails));
+     }
+     else
+     {
+         for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+         {
+             DispenserUsedInJob[Dispenser_i] = false;
+         }
+         if (n_segments == 0)
+             return false;
+
+         for (Segment_i=0;Segment_i<n_segments;Segment_i++)
+             {
+             for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
+                 {
+                     if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers)
+                     {
+                         for (Dispenser_i = 0;Dispenser_i < JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers;Dispenser_i++)
+                         {
+                             //prepare the SW structures
+                             DispenserId = JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->index;
+                             if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                             {
+                                 DispenserUsedInJob[DispenserId] = true;
+                                 if(DispenserId == LUBRICANT_DISPENSER)
+                                 {
+                                    lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
+                                                     JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
+                                    REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                                 }
+
+                             }
+                         }//for dispenser
+                     }//if dispensers
+                 }//for brush
+             }//for segments
+     }
 
-     return false;
+     return true;
 
  }
 
@@ -205,51 +497,26 @@ void DispenserPrepareReady(void)
             //ValveCommand (Enable,MixerDirection);
     }
     //set 3 dancers to the profile positions
-    IDS_MapDispenserUsedinJob(JobDetails);
+    //IDS_MapDispenserUsedinJob(JobDetails);
     for (i = 0; i < MAX_SYSTEM_DISPENSERS; i++)
     {
         if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
         {
+            IDS_StopHomeDispenser(i);
             DispenserReady[i] = false;
             IDS_Dispenser_Build_Pressure(i, IDS_PrepareReady);
             REPORT_MSG(i,"Dispenser prepare called");
         }
         else
+        {
             DispenserReady[i] = true;
+            IDS_HomeDispenser (i, 1000 , NULL);
+        }
+
     }
     DispenserPrepareReady();
     return OK;
 }
-bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId)
-{
-    JobTicket* JobTicket = JobDetails;
-    int Dispenser_i,n_dispensers;
-    if (JobTicket->n_segments == 0)
-        return false;
-    if (JobTicket->n_segments <= SegmentId)
-        return false;
-    if (JobTicket->segments[SegmentId]->brushstops[0]->n_dispensers)
-    {
-        n_dispensers = JobTicket->segments[SegmentId]->brushstops[0]->n_dispensers;
-        for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
-        {
-            if (DispenserId == JobTicket->segments[SegmentId]->brushstops[0]->dispensers[Dispenser_i]->index) //dispenser is in use next segment
-            {
-                if (JobTicket->segments[SegmentId]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond>0)
-                {
-                    return true;
-                }
-                else
-                {
-                    return false;
-                }
-            }
-        }
-    }
-
-    return false;
-
-}
  //********************************************************************************************************************
  uint32_t IDS_Valve_PresegmentValveReady(uint32_t deviceID, uint32_t ReadValue)
  {
@@ -275,16 +542,148 @@ bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int Segmen
              return OK; //not all configured heaters are ready
          }
      }
-     REPORT_MSG(deviceID,"IDS_Valve_Presegment all Ready!!");
+     REPORT_MSG(deviceID,"IDS Presegment Ready!!");
      PreSegmentReady(Module_IDS,ModuleDone);
   return OK; // all configured heaters are ready
  }
 
+
 //********************************************************************************************************************
-uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
+ JobDescriptionFileBrushStop * FileBrushStop;
+ char IdsMessage[100];
+
+ uint32_t IDSPreSegmentStateCallbackRunner(uint32_t IfIndex, uint32_t ReadValue)
+ {
+     JobDispenser **Dispensers;
+ //set the speed only before the first segment, speed is constant accros job
+     int Dispenser_i,n_dispensers,DispenserId;
+     TimerMotors_t HW_Motor_Id;
+     double segmentfirst_speed;
+/*
+  IDS Pre-Segment (Inter-Segment) activity
+1.     Cleaning
+2.     Build pressure toward the waste valve
+The IDS pre-segment process will be performed before all segments, including the first one.
+The dye dispensers will be in one of two states:
+1.     After being idle – with a high pressure, idle motor and closed valve (will be performed in job prepare or during the previous segment. For Ty time until pressure Pa is achieved)
+2.     At work – pushing dye to the mixer.
+At pre-segment, TW seconds before its end, the active dispensers will start working in the next segment's speed: Ssegment* WFCF.
+After TU milliseconds the valve will open.
+At segment start, the waste valve will be redirected to the head and the dispensers' speed will be reduced to the next segment's speed
+Cleaning: the cleaning process involves: starting the cleaning dispenser in speed Sclean, starting the head rockers motor(s) in speed S1 and S2,
+and stopping the dispenser, centering the rockers Tending milliseconds before segment start.
+Segment state:
+1.     Active dispensers are working.
+2.     Idle dispensers are filling, until TX+TY seconds before segment end. (TX=backlash time, TY=pressure prepare time). Then they reverse direction and start building pressure until segment end or until pressure PA (= prepare pressure) is achieved.
+This means that for each Pre-segment we must calculate: TW,TU,Tending,
+This means that for each segment we must calculate: Tx,Ty.
+
+  */
+/*uint32_t InterSegmentStartSprayCleaner = 500;
+uint32_t InterSegmentStartRocking = 1000;
+uint32_t InterSegmentCenterRockers = 3000;
+uint32_t InterSegmentStartWFCFDispensers = lInterSegmentLength-1500;
+uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
+uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
+uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
+uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
+*/
+     //InterSegmentStepsLimit = lInterSegmentLength*10;//100 millisec steps
+     InterSegmentStepsCount+=100;
+     if (InterSegmentStepsCount == lInterSegmentLength)
+     {
+         //IDS_Valve_PresegmentReady(1,0);
+         Report("End of Pre-segment Handling",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+         SafeRemoveControlCallback(DispenserPreSegmentControlId,IDSPreSegmentStateCallbackRunner);
+     }
+     if (EnableCleaning == true)
+     {
+         if (InterSegmentStartSprayCleaner == InterSegmentStepsCount)
+         {
+             Report("Start Spray Cleaner",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
+         }
+         if (InterSegmentStartRocking == InterSegmentStepsCount)
+         {
+             Report("Start cleaning rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
+         }
+         if (InterSegmentCenterRockers == InterSegmentStepsCount)
+         {
+             Report("Stop spray and center rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+             //IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
+             //IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
+         }
+     }
+     if (InterSegmentStartWFCFDispensers == InterSegmentStepsCount)
+     {
+         Report("start dispensers at rate * WFCF",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
+         if (FileBrushStop)
+         {
+             REPORT_MSG(FileBrushStop->index,"WFCFBrushStopRead Index");
+             Dispensers = FileBrushStop->dispensers;
+             n_dispensers = FileBrushStop->n_dispensers;
+             if (n_dispensers)
+             {
+                 for (Dispenser_i = 0; Dispenser_i < n_dispensers; Dispenser_i++)
+                 {
+                     DispenserId = Dispensers[Dispenser_i]->index;
+                     HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+                     if (MotorsCfg[HW_Motor_Id].hardwaremotortype
+                             != DispenserIdToMotorId[DispenserId])
+                         continue;
+
+                     //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
+                     segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
+                             / Dispensers[Dispenser_i]->nanoliterperpulse;
+                     if (Dispensers[Dispenser_i]->dispenserstepdivision
+                             != DISPENSER_STEP_DIVISION__Auto)
+                     {
+                         //MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
+                         segmentfirst_speed /=
+                                 Dispensers[Dispenser_i]->dispenserstepdivision; //the dye supply is calculated based on a 1/8 microstep
+                         IDS_Dispenser_Set_Flow_Params(
+                                 DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                                 Dispensers[Dispenser_i]->dispenserstepdivision);
+                     }
+                     else
+                     {
+                         //segmentfirst_speed/=MotorsCfg[HW_Motor_Id].microstep;  //the dye supply is calculated based on a 1/8 microstep
+                         IDS_Dispenser_Set_Flow_Params(
+                                 DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                                 MotorsCfg[HW_Motor_Id].microstep);
+                     }
+                     if ((int) segmentfirst_speed > 0)
+                     {
+#define WFCF 80
+                         segmentfirst_speed *= (100+WFCF);
+                         segmentfirst_speed /= 100;
+                         DispenserSegmentReady[DispenserId] = false;
+                         //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                         IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,
+                                                                  segmentfirst_speed,
+                                                                  NULL);                         usnprintf(IdsMessage, 80,
+                                   "WFCF Dispenser %d nl/sec %d nl/pulse %d speed %d",
+                                   DispenserId,
+                                   (int) Dispensers[Dispenser_i]->nanolitterpersecond,
+                                   (int) Dispensers[Dispenser_i]->nanoliterperpulse,
+                                   (int) segmentfirst_speed);
+                         //REPORT_MSG(segmentfirst_speed,IdsMessage);
+                         Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
+                         SendJobProgress(0.0, 0, false, IdsMessage);
+                     }
+                 }
+             }
+         }
+         //startDispensersAtSegmentSpeed*1=WFCFClenerSpray(speed);
+     }
+     return OK;
+ }
+uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
 {
+    JobSegment* Segment = SegmentDetails;
+    JobDispenser **Dispensers;
 //set the speed only before the first segment, speed is constant accros job
-    JobTicket* JobTicket = JobDetails;
     int Dispenser_i,n_dispensers,DispenserId;
     TimerMotors_t HW_Motor_Id;
 
@@ -294,153 +693,270 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
     /* wait for all dispensers  to get to the required pressure
      * move the presegment ready when all dispensers are ready.
      */
-    if (JobTicket->n_segments == 0)
-        return OK;
-    if (SegmentId>=JobTicket->n_segments)
-        {
-            LOG_ERROR(SegmentId,"Error Segment");
-            return ERROR;
-        }
-
     REPORT_MSG(SegmentId,"IDSPreSegmentState");
-    if (JobBrushStopId>=JobTicket->segments[SegmentId]->n_brushstops)
+    if (JobBrushStopId>=Segment->n_brushstops)
     {
-        LOG_ERROR(JobBrushStopId,"Error JobBrushStopId");
+        LOG_ERROR(Segment->n_brushstops,"Error JobBrushStopId");
+        JobEndReason = JOB_OUT_OF_DYE;
+        PreSegmentReady(Module_IDS,ModuleFail);
         return ERROR;
     }
-    if (( JobTicket->enableintersegment == true)&&(JobTicket->intersegmentlength>0))
+
+
+    if ((EnableIntersegment == true)&&(IntersegmentLength>0))
     {
         Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); //if intersegment is defined throw the ink away
+        if (SegmentId>0)
+        {
+            lInterSegmentLength = ((IntersegmentLength*100)*1000/dyeingspeed);
+            lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
+            InterSegmentStepsCount = 0;
+            DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
+            if (DispenserPreSegmentControlId == 0xFF)
+            {
+                Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
+                return ERROR;
+            }
+            Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)IntersegmentLength,0);
+            if (EnableCleaning == true)
+            {
+                InterSegmentStartSprayCleaner = 500;
+                InterSegmentStartRocking = 1000;
+                InterSegmentCenterRockers = 3000;
+            }
+            InterSegmentStartWFCFDispensers = lInterSegmentLength-5000;
+        }
     }
 
-    if (JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->n_dispensers)
+    if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
+    {
+        Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
+        n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
+    }
+    else
+    {
+        if (BrushStopControlId != 0xFF)
+        {
+            RemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+            BrushStopControlId = 0xFF;
+        }
+        FileBrushStop = GetNextBrushStopFromJobFile();
+        if (FileBrushStop)
+        {
+            REPORT_MSG(FileBrushStop->index,"BrushStopRead Index");
+            Dispensers = FileBrushStop->dispensers;
+            n_dispensers = FileBrushStop->n_dispensers;
+        }
+        else
+        {
+            LOG_ERROR(FileBrushStop,"BrushStopReadError");
+            JobEndReason = JOB_OUT_OF_DYE;
+            SegmentReady(Module_IDS,ModuleFail);
+        }
+    }
+    if (n_dispensers)
     {
-        n_dispensers = JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->n_dispensers;
         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
         {
-            DispenserId = JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
+            DispenserId = Dispensers[Dispenser_i]->index;
+            DispenserPreSegmentReady[DispenserId] = false;
+        }
+        for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
+        {
+            DispenserId = Dispensers[Dispenser_i]->index;
             HW_Motor_Id = DispenserIdToMotorId[DispenserId];
             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
             {
                 REPORT_MSG(DispenserId,"Dispenser PreSegment not configured");
+                DispenserPreSegmentReady[DispenserId] = true; //27/03/19 check if job should be stopped
                 continue;
             }
-            DispenserPreSegmentReady[DispenserId] = false;
-            REPORT_MSG(DispenserId,"IDS_Valve_Presegment start");
+            //REPORT_MSG(DispenserId,"IDS_Valve_Presegment start");
             IDS_Dispenser_Set_Flow_Params(DispenserId,0,0);
-            if (JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
+            if (Dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
             {
-                MotorSetMicroStep(HW_Motor_Id, JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
+                MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
             }
             else
             {
                 MotorSetMicroStep(HW_Motor_Id, MotorsCfg[HW_Motor_Id].microstep);
             }
+            MotorStop(HW_Motor_Id,Hard_Hiz); //26/03/19 test  without valves
+            CurrentDispenserSpeed[DispenserId] = 0;
+            IDS_Valve_PresegmentReady(DispenserId,0); //27/03/19 to be removed when the presegment handler will be added
+            //REPORT_MSG(DispenserId,"Dispenser stopped pre Segment");
+        }
+    }
+
+    return OK;
+}
+//********************************************************************************************************************
+
+uint32_t SegmentNumOfBrushStops = 0;
+double BrushStopTime = 0;
+
+void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
+{
+    int Dispenser_i,DispenserId;
+    TimerMotors_t HW_Motor_Id;
+    double segmentfirst_speed;
+    Report("IDS_StartBrushStop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)0,0);
+
+    if (n_dispensers)
+    {
+        for (Dispenser_i = 0; Dispenser_i < n_dispensers; Dispenser_i++)
+        {
+            DispenserId = Dispensers[Dispenser_i]->index;
+            HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+            if (MotorsCfg[HW_Motor_Id].hardwaremotortype
+                    != DispenserIdToMotorId[DispenserId])
+                continue;
 
-            if (JobTicket->segments[SegmentId]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond==0)
+            //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
+            segmentfirst_speed = Dispensers[Dispenser_i]->nanolitterpersecond
+                    / Dispensers[Dispenser_i]->nanoliterperpulse;
+            if (Dispensers[Dispenser_i]->dispenserstepdivision
+                    != DISPENSER_STEP_DIVISION__Auto)
+            {
+                //MotorSetMicroStep(HW_Motor_Id, Dispensers[Dispenser_i]->dispenserstepdivision);
+                segmentfirst_speed /=
+                        Dispensers[Dispenser_i]->dispenserstepdivision; //the dye supply is calculated based on a 1/8 microstep
+                IDS_Dispenser_Set_Flow_Params(
+                        DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                        Dispensers[Dispenser_i]->dispenserstepdivision);
+            }
+            else
+            {
+                //segmentfirst_speed/=MotorsCfg[HW_Motor_Id].microstep;  //the dye supply is calculated based on a 1/8 microstep
+                IDS_Dispenser_Set_Flow_Params(
+                        DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
+                        MotorsCfg[HW_Motor_Id].microstep);
+            }
+            if ((int) segmentfirst_speed > 0)
             {
-                //MotorStop(HW_Motor_Id,Hard_Hiz);
-                //Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
-                IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,IDS_Valve_PresegmentValveReady);
-                REPORT_MSG(DispenserId,"Dispenser Not Used Next Segment");
+                DispenserSegmentReady[DispenserId] = false;
+                //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                /*IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,
+                                                         segmentfirst_speed,
+                                                         NULL);*/
+                Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
+                CurrentDispenserSpeed[DispenserId] = segmentfirst_speed;
+                usnprintf(IdsMessage, 80,
+                          "Dispenser %d nl/sec %d nl/pulse %d speed %d",
+                          DispenserId,
+                          (int) Dispensers[Dispenser_i]->nanolitterpersecond,
+                          (int) Dispensers[Dispenser_i]->nanoliterperpulse,
+                          (int) segmentfirst_speed);
+                //REPORT_MSG(segmentfirst_speed,IdsMessage);
+                Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
+                SendJobProgress(0.0, 0, false, IdsMessage);
             }
             else
             {
-                if ((JobTicket->intersegmentlength)&&(SegmentId>0)) //there is an intersegment, stop all the dispensers. otherwise stop only dispensers that are not in use in the next segment.
-                {
-                    //Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentValveReady); //direction: MidTank_Dispenser or Dispenser_Mixer
-                    IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,IDS_Valve_PresegmentValveReady);
-                    REPORT_MSG(DispenserId,"Dispenser Used Next Segment with intersegment");
-                }
-                else
-                {
-                    IDS_Valve_PresegmentReady(DispenserId,0);
-                }
-                REPORT_MSG(DispenserId,"Dispenser is Used Next Segment");
+                DispenserSegmentReady[DispenserId] = true;
+                //IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,NULL);*/
+                MotorStop(HW_Motor_Id, Hard_Hiz);
+                CurrentDispenserSpeed[DispenserId] = 0;
+                Report("inActive dispenser stopped", __FILE__, __LINE__, DispenserId, RpWarning,   segmentfirst_speed, 0);
             }
         }
     }
+}
+uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
+{
+    JobDispenser **Dispensers = NULL;
+    int n_dispensers = 0;
+    JobSegment* Segment = (void *)IfIndex;
 
+    if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
+    {
+        Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
+        n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
+    }
+    else
+    {
+        if (FileBrushStop)
+            FreeBrushStopFileData(FileBrushStop);
+        FileBrushStop = GetNextBrushStopFromJobFile();
+        if (FileBrushStop)
+        {
+            REPORT_MSG(FileBrushStop->index,"BrushStopRead Index");
+            Dispensers = FileBrushStop->dispensers;
+            n_dispensers = FileBrushStop->n_dispensers;
+        }
+        else
+        {
+            LOG_ERROR(FileBrushStop,"BrushStopReadError");
+            JobEndReason = JOB_OUT_OF_DYE;
+            SegmentReady(Module_IDS,ModuleFail);
+        }
+    }
+    if (n_dispensers)
+    {
+        IDS_StartBrushStop(n_dispensers, Dispensers);
+    }
+    JobBrushStopId++;
+    Report("brushstop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)SegmentNumOfBrushStops,0);
+    if (JobBrushStopId >= SegmentNumOfBrushStops)
+    {
+        Report("last brushstop",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)SegmentNumOfBrushStops,0);
+        SafeRemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+        BrushStopControlId = 0Xff;
+    }
     return OK;
 }
 //********************************************************************************************************************
+uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
+{
+     JobSegment* Segment = SegmentDetails;
+     JobDispenser **Dispensers;
+     int n_dispensers;
 
- uint32_t IDS_Valve_SegmentReady(uint32_t deviceID, uint32_t ReadValue)
- {
-     int i;
-     DispenserSegmentReady[deviceID] = true;
-     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
+     Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
+
+     SegmentNumOfBrushStops = Segment->n_brushstops;
+     BrushStopTime = Segment->length/SegmentNumOfBrushStops;  //brushstop in meters
+     BrushStopTime = ((BrushStopTime*100)/dyeingspeed);//brushstop in seconds
+     BrushStopTime *= 1000; //brushstop in millisecond
+     Report("IDSSegmentState",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)SegmentNumOfBrushStops,0);
+     if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
+     {
+         Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
+         n_dispensers = Segment->brushstops[JobBrushStopId]->n_dispensers;
+     }
+     else
      {
-         if (DispenserSegmentReady[i] == false)
+         if (FileBrushStop)
          {
-             return OK; //not all configured heaters are ready
+             Dispensers = FileBrushStop->dispensers;
+             n_dispensers = FileBrushStop->n_dispensers;
          }
-     }
-     SegmentReady(Module_IDS,ModuleDone);
-  return OK; // all configured heaters are ready
- }
-
- char IdsMessage[100];
-//********************************************************************************************************************
- uint32_t IDSSegmentState(void *JobDetails, int SegmentId)
-{
-     JobTicket* JobTicket = JobDetails;
-     int Dispenser_i,n_dispensers,DispenserId;
-     TimerMotors_t HW_Motor_Id;
-     double segmentfirst_speed;
-     int CurrentSegment = SegmentId;
-
-     if (CurrentSegment>=JobTicket->n_segments)
+         else
          {
-             LOG_ERROR(CurrentSegment,"Error Segment");
-             return ERROR;
+             LOG_ERROR(FileBrushStop,"BrushStopReadError");
          }
-     if (JobBrushStopId>=JobTicket->segments[CurrentSegment]->n_brushstops)
-     {
-         LOG_ERROR(JobBrushStopId,"Error JobBrushStopId");
-         return ERROR;
      }
-     Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
-     if (JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->n_dispensers)
-     {
-         n_dispensers = JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->n_dispensers;
-         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
-         {
-             DispenserId = JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
-             HW_Motor_Id = DispenserIdToMotorId[DispenserId];
-             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
-                 continue;
-             //(Speed*uStep*PPR)/((2*PI*Dispenser_Radius)
-             segmentfirst_speed = JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanolitterpersecond/
-                     JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse;
-             if (JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision != DISPENSER_STEP_DIVISION__Auto)
-             {
-                 //MotorSetMicroStep(HW_Motor_Id, JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
-                 segmentfirst_speed/=JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision;  //the dye supply is calculated based on a 1/8 microstep
-                 IDS_Dispenser_Set_Flow_Params ( DispenserId, JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse
-                                                 ,  JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
-             }
-             else
-             {
-                 //segmentfirst_speed/=MotorsCfg[HW_Motor_Id].microstep;  //the dye supply is calculated based on a 1/8 microstep
-                 IDS_Dispenser_Set_Flow_Params ( DispenserId, JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse
-                                                 ,MotorsCfg[HW_Motor_Id].microstep);
-             }
-             if ((int)segmentfirst_speed > 0)
-                 {
-                     DispenserSegmentReady[DispenserId] = false;
-                     //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                     IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,segmentfirst_speed,NULL);
-                     usnprintf(IdsMessage, 80, "Dispenser %d nl/sec %d nl/pulse %d speed %d",Dispenser_i,(int)JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanolitterpersecond,
-                               (int)JobTicket->segments[CurrentSegment]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->nanoliterperpulse,(int)segmentfirst_speed);
-                     //REPORT_MSG(segmentfirst_speed,IdsMessage);
-                     Report(IdsMessage,__FILE__,__LINE__,Dispenser_i,RpWarning,segmentfirst_speed,0);
-                     SendJobProgress(0.0,0,false, IdsMessage);
 
+    IDS_StartBrushStop(n_dispensers, Dispensers);
+    JobBrushStopId++;
+    if ((BrushStopTime)&&(SegmentNumOfBrushStops > 1))
+    {
+        BrushStopControlId = AddControlCallback( IDSBrushStopRestartCallback, BrushStopTime,TemplateDataReadCBFunction ,SegmentDetails, 0, 0 );
+        if (BrushStopControlId == 0xFF)
+        {
+            Report("Add control callback failed",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)0,0);
+            return ERROR;
+        }
+        Report("Add control callback ",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)n_dispensers,0);
 
-                 }
-         }
-     }
+    }
+    else
+    {
+        if (FileBrushStop)
+            FreeBrushStopFileData(FileBrushStop);
+        FileBrushStop = NULL;
+    }
 
     return OK;
 }
@@ -466,6 +982,7 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
               return OK; //not all configured heaters are ready
           }
       }
+      REPORT_MSG(deviceID,"IDS_Valve_DistanceToSpoolReady End called");
       DistanceToSpoolReady(Module_IDS,ModuleDone);
    return OK; // all configured heaters are ready
   }
@@ -495,15 +1012,25 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
      //TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[deviceID];
      //REPORT_MSG(deviceID,"Dispenser End called");
      //MotorStop(HW_Motor_Id,Hard_Hiz);
+     IDS_HomeDispenser (deviceID, 1000 , NULL);
+
      return OK;
  }
 //********************************************************************************************************************
- uint32_t IDSEndState(void *JobDetails)
+ uint32_t IDSEndState(void )
 {
      int Dispenser_i;
      IDS_Active = false;
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste);
      REPORT_MSG(0,"Dispenser End Start");
+     if (BrushStopControlId != 0xFF)
+     {
+         RemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+         BrushStopControlId = 0xFF;
+     }
+     if (FileBrushStop)
+         FreeBrushStopFileData(FileBrushStop);
+     FileBrushStop = NULL;
      for ( Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
          if (DispenserUsedInJob[Dispenser_i] == true)
@@ -522,3 +1049,18 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 
     return OK;
 }
+uint32_t IDS_StartLubrication(void)
+{
+    IDS_Dispenser_Start_Motor_and_Open_Valve(LUBRICANT_DISPENSER,lubricant_speed,NULL);
+    Lubricant_2Way_Valve (START);
+    return OK;
+}
+uint32_t IDS_StopLubrication(void)
+{
+    if(DispenserUsedInJob[LUBRICANT_DISPENSER])
+    {
+        IDS_Dispenser_Close_Valve_And_Stop_Motor(LUBRICANT_DISPENSER,IDS_Valve_EndValveReady);
+        Lubricant_2Way_Valve (STOP);
+    }
+    return OK;
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 919e84582..d041b648e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -7,6 +7,7 @@
 #include "driverlib/gpio.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
+#include "StateMachines/Initialization/PowerOffSequence.h"
 
 //#include "graphics_adapter.h"
 
@@ -20,7 +21,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
 
     ProgressResponse response = PROGRESS_RESPONSE__INIT;
     response.has_progress = true;
-
+    PowerOffInit();
     int i = 0;
     for (i = 0; i < request->amount; i++)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
index 61c7afe74..6bfb3f322 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
@@ -8,6 +8,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -30,8 +31,6 @@
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/SPI/SPI_Comm.h"
 
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-
 #include "driverlib/ssi.h"
 #include "drivers/SPI/SPI_Comm.h"
 #include "drivers/FPGA/FPGA_SSI_Comm.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
index eb1de19ad..f3efa3b67 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
@@ -36,19 +36,16 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
 
     TCA9534Regs Regs;
 
-    status |= TCA9534Init(request->dispenserid, &Regs);
+    //static bool first_time = true;
 
-    if(request->start == 1)
-    {
-        TCA9534ByPass(request->dispenserid, &Regs, ENABLE);
+    //if(first_time == true)
+    //if ((Regs.Config[request->dispenserid].bit.DISP_DOWN != TCA9534_INPUT) || (Regs.Config[request->dispenserid].bit.DISP_UP!= TCA9534_INPUT))
+    //{
+        status |= TCA9534Init(request->dispenserid, &Regs);
+        //first_time = false;
+    //}
 
-    }
-    else
-        TCA9534ByPass(request->dispenserid, &Regs, DISABLE);
-
-    delayms(5);
-
-    if(request->setdirection == 1)
+    if(request->setdirection == true)
     {
         TCA9534TestRelay(request->dispenserid, &Regs,ENABLE);
     }
@@ -56,12 +53,28 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
         TCA9534TestRelay(request->dispenserid, &Regs,DISABLE);
 
     delayms(5);
+
+
+     if(request->start == true)
+     {
+        TCA9534ByPass(request->dispenserid, &Regs, ENABLE);
+
+     }
+     else
+        TCA9534ByPass(request->dispenserid, &Regs, DISABLE);
+
+     delayms(5);
+
+
+    /*
     if(request->setmicrostepdivision == 1)
         TCA9534TestByPassTestRelay(request->dispenserid, &Regs);
     delayms(5);
     if(request->setspeed == 1)
         test_IO();
     delayms(5);
+    */
+
     //request->dispenserid
 	//request->start
 	//request->setdirection
@@ -71,7 +84,7 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
 
     StubDispenserResponse response =   STUB_DISPENSER_RESPONSE__INIT;
 
-    response.dispenserid = (uint32_t)((round)(CalculateDispenserPressure(0x00000004)));//CHAN_DISPENSE_PRESSURE_6);
+    //response.dispenserid = (uint32_t)((round)(CalculateDispenserPressure(0x00000004)));//CHAN_DISPENSE_PRESSURE_6);
 
 
     status |= TCA9534SetReadInputReg(request->dispenserid);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
index d9d35f363..f7e3b21f6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
@@ -47,7 +47,7 @@ void Stub_IntADCReadRequest(MessageContainer* requestContainer)
     SysCtlDelay(100000);
 
 
-    data = ADC_GetReading(request->adc_device);
+    data = ADC_GetReading((ADC_TYPE)request->adc_device);
     status = PASSED;
 
     StubIntADCReadResponse response =   STUB_INT_ADCREAD_RESPONSE__INIT;
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
index 658205327..636889127 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
@@ -1,6 +1,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include <PMR/Stubs/StubL6470DriverResponse.pb-c.h>
 #include <PMR/Stubs/StubL6470DriverRequest.pb-c.h>
 #include <stdbool.h>
@@ -19,8 +20,6 @@
 //#include "drivers/FPGA/FPGA.h"
 #include "drivers/SPI/SPI_Comm.h"
 
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-
 #include "driverlib/ssi.h"
 
     unsigned long Run_Value = 136902 ;
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
index 65ede8fac..0854aba40 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -1,6 +1,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include <PMR/Stubs/StubMotorInitRequest.pb-c.h>
 #include <PMR/Stubs/StubMotorInitResponse.pb-c.h>
 #include <PMR/Stubs/StubMotorRunRequest.pb-c.h>
@@ -37,8 +38,6 @@
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/SPI/SPI_Comm.h"
 
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-
 #include "driverlib/ssi.h"
 #include "drivers/SPI/SPI_Comm.h"
 #include "Modules/Thread/Thread_ex.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
index eea594817..4e6c4cf84 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
@@ -9,6 +9,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -28,8 +29,6 @@
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/SPI/SPI_Comm.h"
 
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-
 #include "driverlib/ssi.h"
 #include "drivers/SPI/SPI_Comm.h"
 #include "drivers/FPGA/FPGA_SSI_Comm.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
index f25a79b15..c320cca80 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
@@ -7,6 +7,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/L6470.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -29,8 +30,6 @@
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/SPI/SPI_Comm.h"
 
-#include "drivers/FPGA/Moters_Driver/L6470.h"
-
 #include "driverlib/ssi.h"
 #include "drivers/SPI/SPI_Comm.h"
 #include "drivers/FPGA/FPGA_SSI_Comm.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
index 1b6ed8989..c6ea742a7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -32,8 +32,15 @@ void Stub_ValveRequest(MessageContainer* requestContainer)
 	request->inkflow
 	request->valveon
     */
-    //Control3WayValvesWithCallback (request->valveid, request->valveon, NULL);
-    //Valve_Set(request->valveid, request->valveon);
+
+    if(request->inkflow == 3)
+    {
+        Control3WayValvesWithCallback (request->valveid, request->valveon, NULL);
+    }
+    else
+    {
+        Valve_Set(request->valveid, request->valveon);
+    }
 
     StubValveResponse response =   STUB_VALVE_RESPONSE__INIT;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 638611c8b..3e2a6aa40 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -64,6 +64,8 @@ extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM];
 extern double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM];
 extern int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM];
 extern    MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM];
+extern int32_t MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
+extern int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM];
 
 
 uint32_t InternalWinderConfigMessage(HardwareWinder* request);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index a82fe37e6..ab5075ab9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -38,21 +38,21 @@
 /*    typedef enum
     {
         0 THREAD_LOAD_INIT,
-        1 THREAD_LOAD_REDUCE_HEAT,  //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
-        2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,//USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
-        3 THREAD_LOAD_CENTER_HEAD_ROCKERS,  //puthead cleaning rockers to middle position
-        4 THREAD_LOAD_OPEN_COVERS,  //OPEN DYEING HEAD COVER AND DRYER LID
+        1 THREAD_LOAD_REDUCE_HEAT,                           //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
+        2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,        //USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
+        3 THREAD_LOAD_CENTER_HEAD_ROCKERS,                   //puthead cleaning rockers to middle position
+        4 THREAD_LOAD_OPEN_COVERS,                           //OPEN DYEING HEAD COVER AND DRYER LID
         5 THREAD_LOAD_LIFT_DANCERS,
-        6 THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
-        7 THREAD_LOAD_INITIAL_TENSION,//CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
+        6 THREAD_LOAD_LIFT_ROCKERS,                          //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
+        7 THREAD_LOAD_INITIAL_TENSION,                       //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
         8 THREAD_LOAD_CLOSE_ROCKERS,
-        9 THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
+        9 THREAD_LOAD_CLOSE_DANCERS,                         //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
         10 THREAD_LOAD_CLOSE_LIDS,
         11 THREAD_LOAD_RESUME_HEATING,
-        12 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,//JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
-        13 THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
-                                    //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
-        14 THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
+        12 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,           //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
+        13 THREAD_LOAD_DRYER_LOADING,                        //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
+                                                             //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
+        14 THREAD_LOAD_JOG_THREAD,                           //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
         15 THREAD_LOAD_END
     }THREAD_LOAD_STAGES_ENUM;*/
     THREAD_LOAD_STAGES_ENUM LoadStages = THREAD_LOAD_INIT;
@@ -78,6 +78,13 @@
     //RUN MOTOR A FULL CYCLE
     //RUN A MOTOR NUMBER OF STEPS
     //RUN CONTROL FOR A SINGLE DANCER
+    bool ThreadLoadingActive(void)
+    {
+        if ((LoadStages > THREAD_LOAD_INIT)&&(LoadStages < THREAD_LOAD_END))
+            return true;
+        else
+            return false;
+    }
     uint32_t Thread_Load_Init(void)
     {
         void* buffer = NULL;
@@ -200,6 +207,7 @@
     }
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
+
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
@@ -222,9 +230,16 @@
                 else
                 {
                     LoadStages++;
-                    if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+                    if (LoadStages == THREAD_LOAD_LIFT_ROCKERS)
                     {
-                        ThreadLoadStateMachine(LoadStages);
+                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep);
+                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep);
+                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep);
+                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep);
+                    }
+                    if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call
+                    {
+                        //ThreadLoadStateMachine(LoadStages);
                     }
                 }
             }
@@ -237,9 +252,9 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], Thread_Load_HomingCallback,10000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, 80,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], Thread_Load_HomingCallback,10000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 80,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000);
         return OK;
     }
     uint32_t Thread_Load_Open_Covers(void)
@@ -270,10 +285,15 @@
     //Machine Is Ready. Send Message, Start Timer To Close Lids, Wait For Operator Response
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1);
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 35);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 35);
+        Task_sleep(10);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,12000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 50,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,25000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,12000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 50,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,25000);
 
         return OK;
     }
@@ -340,7 +360,7 @@
         {
             Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            ThreadLoadStateMachine(LoadStages);
+            //ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -357,6 +377,7 @@
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id");
+        MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,0,0);
         if(ControlId != 0xFF)
         {
             MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
@@ -371,7 +392,7 @@
                 LoadStages++;
                 if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
                 {
-                    ThreadLoadStateMachine(LoadStages);
+                    //ThreadLoadStateMachine(LoadStages);
                 }
             }
         }
@@ -417,7 +438,7 @@
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
-        //LoadArmInfo.LoadArmRounds = 0xFF;
+        LoadArmInfo.LoadArmRounds = 0xFF;
         FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath);
         return OK;
     }
@@ -428,7 +449,7 @@
         ControlId = 0xFF;
         ThreadAbortJoggingFunc();
         LoadStages++;
-        ThreadLoadStateMachine(LoadStages);
+        //ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Jog_Thread(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index c598e0c55..1f7836ea5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -40,6 +40,8 @@ void ScrewsStartControlTimer (void);
 bool     Winder_ScrewHoming = false;
 bool     ScrewCurrentDirection = false;  //holds current screw direction
 uint32_t ScrewDirectionChangeCounter = 1; //holds the current number of runs of the screw  - will be used to build the cone
+//uint32_t ScrewChangeCounter = 0;
+//uint32_t ScrewChangeLimit = 0;
 uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of runs of the screw  - will be used to build the cone
 uint16_t WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION];
 uint16_t WinderMotorSpeedCounter = 0;
@@ -75,7 +77,7 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.spoolbackingrate = request->backingrate;
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
     InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
-    InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
+    InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage;
     InternalWinderCfg.diameter = request->diameter;
 
     return status;
@@ -135,8 +137,16 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
     REPORT_MSG(millisecondCounter/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency*/, "Winder_PrepareStage2");
-
-    status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_SCREW, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize),numOfSteps, Winder_ScrewAtOffsetCallback,1000);
+    if (ReadValue != LIMIT)
+    {
+        LOG_ERROR(ReadValue,"Screw failed to reach the limit switch!!");
+        //returned with a timeout
+        Winder_ScrewAtOffsetCallback(0,0);
+    }
+    else
+    {
+        status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_SCREW, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize),numOfSteps, Winder_ScrewAtOffsetCallback,1000);
+    }
      //set motor location 0 here
         return status;
 
@@ -188,6 +198,8 @@ char ScrewStr[100];
 //char TempScrewStr[100];
 double WinderReferenceSpeed=0;
 int32_t  TotalWinderSpeed=0;
+bool Add100 = false;
+double Rotations = 6.0;
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     //uint32_t Steps;
@@ -196,13 +208,21 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     double RotationsPerSecond;
     int32_t Averagewinderspeed = 0;
 
-    TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
-    WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
-    TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
-    if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
+    //ScrewChangeCounter++;
+    //if ((ScrewChangeCounter>3)&&(ScrewChangeCounter<(ScrewChangeLimit-2))) //do not take the winder speed near the limits
     {
-        WinderMotorSpeedCounter=0;
-        WinderMotorSpeedRollOver=true;
+        TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
+        WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
+        TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
+        if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
+        {
+            if (WinderMotorSpeedRollOver == false)
+            {
+                Add100 = true;
+            }
+            WinderMotorSpeedCounter=0;
+            WinderMotorSpeedRollOver=true;
+        }
     }
 
     if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter)
@@ -213,6 +233,12 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
+        if (Add100 == true) //once per job
+        {
+            ScrewNumberOfSteps += 100;
+            Add100 = false;
+        }
+
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0)
         {
             ScrewNumberOfSteps--;
@@ -240,7 +266,9 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 
         WinderReferenceSpeed = Averagewinderspeed;
     }
-    screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
+    screw_horizontal_speed = ScrewNumberOfSteps /  Rotations;//InternalWinderCfg.NumberOfRotationPerPassage;
+    if (Rotations > 7.0)
+        Rotations = 6.0;
     RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
     tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
     //ROM_IntMasterDisable();
@@ -260,7 +288,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         //Report(TempScrewStr,__FILE__,__LINE__,0,RpWarning,0, 0);
         //Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
         //REPORT_MSG(temp , "new winder speed");
-        Report("new winder speed",__FILE__,__LINE__,temp,RpWarning,ScrewSpeed,0);
+//        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
     }
 
     /********************************************************************************/
@@ -274,7 +302,7 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
     return PreSegmentReady(Module_Winder,ModuleDone);
 }
 
-uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
+uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
 {
     //JobTicket* JobTicket = JobDetails;
     double screw_horizontal_speed = 0;
@@ -316,6 +344,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
     //     * 4. start move of travel length
     //     * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed
         ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        ScrewNumberOfSteps -= 100;
         temp = SYS_CLK_FREQ;
         temp *= InternalWinderCfg.segmentoffsetpulses;
         temp /= ScrewSpeed;
@@ -335,6 +364,7 @@ uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
         WinderMotorSpeedCounter=0;
         TotalWinderSpeed = 0;
         WinderMotorSpeedRollOver=false;
+        Add100 = false;
    }
     PreSegmentReady(Module_Winder,ModuleDone);
 
@@ -352,8 +382,8 @@ uint32_t Winder_End(void)
     CurrentControlledSpeed[SCREW_MOTOR] = 0;
     ScrewsStopControlTimer();
     //move the cart to the edge so the spool can be easily replaced
-    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
-
+    //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, 1000, GPI_LS_SCREW_RIGHT, NULL,0);
+    MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
     return OK;
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)
@@ -397,12 +427,14 @@ void ScrewsStartControlTimer (void)
     //ROM_TimerConfigure(Screw_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
     TimerEnable(Screw_timerBase, TIMER_A);
     ROM_IntEnable(INT_TIMER3A);
+    //IntPrioritySet(Screw_timerBase, 0x40);
     ROM_TimerIntEnable(Screw_timerBase, TIMER_TIMA_TIMEOUT);
     ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)1200000/*10 millisec*/ );
     Report("ScrewsStartControlTimer direction,speed ", __FILE__,__LINE__,ScrewCurrentDirection, RpMessage, ScrewSpeed, 0);
     return;
 }
 
+int random = 0;
 void ScrewTimerInterrupt(int ARG0)
 {
     ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
@@ -410,9 +442,11 @@ void ScrewTimerInterrupt(int ARG0)
 
     if (SCREW_TimerActivated == true)
     {
-        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
-        MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
+        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
+        MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed+random);
+      //  ScrewChangeCounter = 0;
+      //  ScrewChangeLimit = ScrewRunningTime/12000000;
         ScrewDirectionChangeCounter++;
     }
     else
@@ -420,6 +454,10 @@ void ScrewTimerInterrupt(int ARG0)
         TimerDisable(Screw_timerBase, TIMER_A);
     }
     ROM_IntMasterEnable();
+    Rotations+=0.03;
+    /*random++;
+    if (random >= 2)
+        random = -1;*/
     //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0);
     //
     // Enable all interrupts.
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index cd71c73b1..d7ce917c0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -31,10 +31,10 @@ uint32_t ThreadConfigBreakSensor(void *request);
 uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId);
 double ThreadGetMotorCalculatedError(int DancerId);
 uint32_t ThreadPrepareState(void *JobDetails);
-uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId);
-uint32_t ThreadSegmentState(void *JobDetails, int SegmentId);
+uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId);
+uint32_t ThreadSegmentState(void *SegmentDetails, int SegmentId);
 uint32_t ThreadDistanceToSpoolState(void);
-uint32_t ThreadEndState(void *JobDetails);
+uint32_t ThreadEndState();
 uint32_t ThreadInitialTestStub();
 
 uint32_t StoreDancerConfigMessage(void);
@@ -67,9 +67,11 @@ typedef enum
     THREAD_LOAD_END
 }THREAD_LOAD_STAGES_ENUM;
 uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM ReadValue);
+bool ThreadLoadingActive(void);
 
 
 void ThreadLoadPollRequest(MessageContainer* requestContainer);
 void ThreadLoadRequest(MessageContainer* requestContainer);
 
+
 #endif
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index a1e91f6fc..4454565c1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -2,6 +2,7 @@
  **************************************************************************************************************************/
 
 #include <DataDef.h>
+#include <Drivers/FPGA/Motors_Driver/PowerSTEP01.h>
 #include "include.h"
 
 #include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
@@ -17,12 +18,13 @@
 #include "drivers/Flash_Memory/fatfs/ff.h"
 #include "drivers/SSI_Comm/Dancer/Dancer.h"
 
-#include "drivers/FPGA/Moters_Driver/PowerSTEP01.h"
-
 #include "thread.h"
 MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS]={0};
 HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};
 
+int32_t MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
+int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};
+
 int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
 int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};
 double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0};
@@ -105,7 +107,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
     MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control
 #endif
     for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++)
+    {
         MotorSamples[Motor_i][i] = 0;  //reset the samples value for control beginning
+        MotorSpeedSamples[Motor_i][i] = 0;
+    }
     NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
     temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 6a8474438..a4208ad25 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -30,6 +30,7 @@
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "modules/heaters/heaters.h"
 #include "modules/General/process.h"
+#include "modules/ids/ids_ex.h"
 #include "Modules/AlarmHandling/AlarmHandling.h"
 #include "Control/MillisecTask.h"
 
@@ -67,6 +68,12 @@ double TempPoolerTotalProcessedLength = 0.0;
 double TempTotalProcessedLength = 0.0;
 
 bool PrepareState = false;
+// job parameters
+bool EnableLubrication = false;
+bool EnableIntersegment = false;
+double IntersegmentLength = 0;
+
+
 int CurrentSegmentId = 0;
 typedef  void (* ProcessedLengthFunc)(void);
 ProcessedLengthFunc ProcessedLengthFuncPtr = NULL;
@@ -76,6 +83,11 @@ void ThreadInterSegmentEnded(void);
 void ThreadDistanceToSpoolEnded(void);
 uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue);
 
+bool SegmentState = false;
+bool PreSegmentState = false;
+bool DTSState = false;
+void SendSegmentFail(void);
+
 double KeepNormalizedError = 0;
 bool ThreadControlActive = false;
 ////////////////////////Slow Motor State////////////////////////////////////
@@ -121,6 +133,7 @@ uint32_t Poolerinitialpos = 0xFFFF;
 
 void ThreadUpdateProcessLength (double length, void *Funcptr)
 {
+    REPORT_MSG(length,"ThreadUpdateProcessLength");
     CurrentRequestedLength = length*100;//Centimetres
     CurrentProcessedLength = 0;
     ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
@@ -353,7 +366,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     //read value is the dancer angle
     int i,index=MAX_THREAD_MOTORS_NUM;
     int DancerId;
-    int32_t TranslatedReadValue, avreageSampleValue = 0;
+    int32_t TranslatedReadValue, avreageSampleValue = 0,avreageMotorSampleValue = 0;
     //double tempcalcspeed = 0;
     uint32_t calculated_speed;
     double NormalizedError;
@@ -372,6 +385,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
     if(MotorControlConfig[index].m_isEnabled )
     {
+        //if (MotorDriverResponse[ThreadMotorIdToMotorId[index]].Busy == true)
+        //    return OK;
         DancerId = ThreadMotorIdToDancerId[index];
         if (ReadValue < 10)
         {
@@ -427,7 +442,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                             JobEndReason = JOB_THREAD_BREAK;
                             ThreadControlActive = false;
                             SendJobProgress(0.0,0,false, TMessage);
-                            SegmentReady(Module_Thread,ModuleFail);
+                            SendSegmentFail();
                             //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
                             //EndState(CurrentJob,"ReadBreakSensor Error" );
                             LOG_ERROR(index, "ReadBreakSensor Error");
@@ -457,7 +472,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
             SendJobProgress(0.0,0,false, TMessage);
             //EndState(CurrentJob,TMessage );
-            SegmentReady(Module_Thread,ModuleFail);
+            SendSegmentFail();
             /*switch (index)
             {
                 case POOLER_MOTOR:
@@ -486,7 +501,23 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             //KeepNormalizedError = NormalizedError;
         }
+        if ((JobCounter % 1000) == 0)
+        {
+            if (JobCounter >= 20000)
+            {
+                MotorSpeedSamples[index][MotorSpeedSamplePointer[index]] = CurrentControlledSpeed[index];//(-1 * TranslatedReadValue);
+                MotorSpeedSamplePointer[index]++;
+                if (MotorSpeedSamplePointer[index] >= MAX_CONTROL_SAMPLES)
+                    MotorSpeedSamplePointer[index] = 0;
+                for (i=0;i<MAX_CONTROL_SAMPLES;i++)
+                    avreageMotorSampleValue += MotorSpeedSamples[index][i];
+                avreageMotorSampleValue = avreageMotorSampleValue / MAX_CONTROL_SAMPLES;
+                //Report("MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,avreageMotorSampleValue,0);
+                OriginalMotorSpd_2PPS[index] = avreageMotorSampleValue;
+            }
+        }
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
+        //calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*CurrentControlledSpeed[index];
         if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
         {
             /*if (keepdata == true)
@@ -551,6 +582,7 @@ bool InitialProcess = false;
  uint32_t ThreadPrepareState(void *JobDetails)
 {
     int Motor_i, HW_Motor_Id, Pid_Id;
+    JobTicket* JobTicket = JobDetails;
     CurrentSegmentId = 0;
 
     JobCounter = 0;
@@ -563,6 +595,11 @@ bool InitialProcess = false;
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,false);
     AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,false);
 
+    EnableLubrication = JobTicket->enablelubrication;
+    EnableIntersegment = JobTicket->enableintersegment;
+    IntersegmentLength = JobTicket->intersegmentlength;
+
+
     //start thread control for all motors
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
     {
@@ -659,7 +696,7 @@ bool InitialProcess = false;
 
 void SetOriginMotorSpeed(float process_speed)
 {
-    int Motor_i, HW_Motor_Id;
+    int i,Motor_i, HW_Motor_Id;
     for (Motor_i = 0; Motor_i <= WINDER_MOTOR; Motor_i++)
     {
         HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];
@@ -671,14 +708,16 @@ void SetOriginMotorSpeed(float process_speed)
         //MotorControlConfig[Motor_i].m_SetParam = motor_speed;
         OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed;
         CurrentControlledSpeed[Motor_i] = (int) motor_speed;
+        for (i = 0; i <= MAX_CONTROL_SAMPLES; i++)
+            MotorSpeedSamples[Motor_i][i] = motor_speed;
     }
 }
 
 //********************************************************************************************************************
-uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId)
+uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
 {
 //set the speed only before the first segment, speed is constant across all job segments and intersegments
-    JobTicket* JobTicket = JobDetails;
+    //JobSegment* Segment = SegmentDetails;
 
     float process_speed = dyeingspeed;
     if (dyeingspeed == 0)
@@ -708,14 +747,22 @@ uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId)
             MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
             MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
         }
+        if (EnableLubrication == true)
+        {
+            IDS_StartLubrication();
+        }
     }
     // activate control fr all motors
     //set speed for both rocker motors
     //wait for all motors to get to the required speed (set the target speed for the control to check)
     //call the job state machine when the thread system is ready
-    if ((InitialProcess==false) && JobTicket->enableintersegment == true)
-    {
-        ThreadUpdateProcessLength (JobTicket->intersegmentlength,(void *)ThreadInterSegmentEnded);
+    if ((InitialProcess==false) && (EnableIntersegment == true)) //&& (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0
+    {//add initial presegment and cleaning before first segment
+        ThreadUpdateProcessLength (IntersegmentLength,(void *)ThreadInterSegmentEnded);
+        REPORT_MSG (IntersegmentLength," ThreadPreSegmentState IntersegmentLength");
+        SegmentState = false;
+        PreSegmentState = true;
+        DTSState = false;
     }
     else
     {
@@ -728,14 +775,26 @@ uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId)
     return OK;
 }
 int REPSegmentId = 0;
+void SendSegmentFail(void)
+{
+    if (SegmentState == true)
+        SegmentReady(Module_Thread,ModuleFail);
+    else if (PreSegmentState == true)
+        PreSegmentReady(Module_Thread,ModuleFail);
+    else if (DTSState == true)
+        DistanceToSpoolReady(Module_Thread,ModuleFail);
+
+}
+
 void ThreadInterSegmentEnded(void)
 {
     REPORT_MSG (REPSegmentId,"ThreadInterSegmentEnded");
+    //ThreadUpdateProcessLength (0,(void *)NULL);
     PreSegmentReady(Module_Thread,ModuleDone);
 }
 void ThreadSegmentEnded(void)
 {
-    REPORT_MSG (REPSegmentId," ThreadSegmentState");
+    REPORT_MSG (REPSegmentId," ThreadSegmentEnded");
     SegmentReady(Module_Thread,ModuleDone);
 }
 void ThreadDistanceToSpoolEnded(void)
@@ -745,14 +804,17 @@ void ThreadDistanceToSpoolEnded(void)
 }
 double seglength = 0.0;
 //********************************************************************************************************************
-uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
+uint32_t ThreadSegmentState(void *SegmentDetails, int SegmentId)
 {
-    JobTicket* JobTicket = JobDetails;
+    JobSegment* Segment = SegmentDetails;
     REPSegmentId = SegmentId;
-    seglength = JobTicket->segments[SegmentId]->length;
+    seglength = Segment->length;
     CurrentSegmentId = SegmentId;
     REPORT_MSG (seglength," ThreadSegmentState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadSegmentEnded);
+    SegmentState = true;
+    PreSegmentState = false;
+    DTSState = false;
     return OK;
 }
 
@@ -762,12 +824,15 @@ uint32_t ThreadDistanceToSpoolState(void )
     seglength = dryerbufferlength;
     REPORT_MSG (seglength,"ThreadDistanceToSpoolState");
     ThreadUpdateProcessLength (seglength,(void *)ThreadDistanceToSpoolEnded);
+    SegmentState = false;
+    PreSegmentState = false;
+    DTSState = true;
     return OK;
 }
 
 char Endstr[150];
 //********************************************************************************************************************
- uint32_t ThreadEndState(void *JobDetails)
+ uint32_t ThreadEndState(void )
 {
      int Motor_i;
      ThreadControlActive = false;
@@ -777,6 +842,7 @@ char Endstr[150];
      Report(Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
 
      ThreadUpdateProcessLength (0.0,(void *)NULL);
+     TotalProcessedLength = 0.0;
     SetOriginMotorSpeed(0);
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
      MillisecLogClose();
@@ -807,7 +873,7 @@ char Endstr[150];
      }
      MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz);
      MotorStop(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz);
-
+     IDS_StopLubrication();
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
index e69de29bb..f6b7d760a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h
@@ -0,0 +1,105 @@
+#ifndef WASTE_H
+#define WASTE_H
+
+
+#define temp_funcion  0
+#define notOK 1
+
+
+/*
+#define SENSORFULL 1
+#define SENSOROVERFLOW 1
+#define SENSOREMPTY 0
+
+
+#define SENSORnotFULL 0
+#define SENSORnotOVERFLOW 0
+#define SENSORnotEMPTY 1
+*/
+#define PUMPON 1
+#define PUMPOFF 0
+
+#define PRECENSE 1
+#define NOTPRECENSE 0
+
+typedef unsigned char U8;
+
+typedef enum
+{
+    WHS_CarteidgeNotPrecense = 0,
+    WHS_CarteidgePrecense
+} WHS_CarteidgPrecenseSensorStatus;
+
+typedef enum
+{
+    WHS_CartridgeCoverCLOSE = 0,
+    WHS_CartridgeCoverOPEN
+} WHS_CarteidgeCoverSensorStatus;
+
+typedef enum
+{
+    SENSORnotFULL = 0,
+    SENSORFULL
+} WHS_FullSensorStatus;
+
+typedef enum
+{
+    SENSOREMPTY = 0,
+    SENSORnotEMPTY
+} WHS_EmptySensorStatus;
+
+typedef enum
+{
+    WHS_empty = 0,
+    WHS_filling,
+    WHS_emptying,
+    WHS_full,
+    WHS_overflow,
+    WHS_sttError
+} WHS_sttMachin;
+
+typedef enum
+{
+    WHS_no_event = 0,
+    WHS_overflow_sensor,
+    WHS_full_sensor,
+    WHS_empty_sensor,
+    WHS_waste1_presence_sensor,
+    WHS_waste2_presence_sensor,
+    WHS_filter_sensor,
+    WHS_cartridge_cover_sensor,
+    WHS_Timeout
+} WHS_sensor;
+
+typedef enum
+{
+    WasteEmpty = 0,
+    WasteFilling,
+    WasteFail,
+    WasteFull
+} cartridge_status;
+
+typedef enum
+{
+    led_on = 0,
+    led_off,
+    led_blink,
+    led_panic
+} led_status;
+
+typedef enum
+{
+    waste_cartridge1 = 0,
+    waste_cartridge2,
+    no_waste_cartridge
+} cartridge_name;
+
+
+U8 WHS_init(void);
+U8 WHS_HW_test(void);
+bool WHS_IsEmptying();
+
+
+
+#endif
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
index e69de29bb..447e954d4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
@@ -0,0 +1,1326 @@
+/*   ----  WHS      */
+#include <Container.h>
+#include <DataDef.h>
+#include "include.h"
+#include "Modules/Control/control.h" //  use for FPGA IO
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"//#include "FPGA_GPIO.h"  //  use for FPGA IO
+#include "drivers/Valves/Valve.h"
+#include "Common/report/report.h"
+#include "Modules/Waste/Waste.h"
+
+#include  <PMR/Diagnostics/EventType.pb-c.h>
+#include "Modules/AlarmHandling/AlarmHandling.h"
+
+
+#define WasteTankCallBackTime           eOneSecond
+#define CartridgeCoverCallBackTime      eOneSecond
+#define CartridgeCoverCallBackFastTime  eTenMillisecond
+#define CartridgeWaste1CallBackTime     eOneSecond
+#define CartridgeWaste2CallBackTime     eOneSecond
+#define STARTCOUNT  1
+#define STOPCOUNT   0
+#define PumpTimeout 60 //  minutes
+
+
+/*------------Waste Tank function-----------------------*/
+bool initWHS_WasteTank();
+bool InitWasteCartStatus();
+
+bool CartridgeCoverCBFunction();
+U8 CartridgeCoverCallBackFunction();
+WHS_sensor CartridgeWaste1CallBackFunction();
+WHS_sensor CartridgeWaste2CallBackFunction();
+WHS_sensor WasteTankCallBackFunction();
+U8 CartridgeWasteFilling(bool status);
+bool WasteTankCBFunction();
+
+U8 CartridgePrecenceCBFunction();
+U8 SetCartridgeLED(cartridge_name name,led_status led);
+
+bool SetWastePump( bool power);
+bool SetValveDirection();
+bool RdCartridgeCoverSensor();
+bool RdWasteCartridge1Sensor();
+bool RdWasteCartridge2Sensor();
+bool RdWasteTankFilterSensor();
+bool RdWasteTankOverFlowSensor();
+bool RdWasteTankFullSensor();
+bool RdWasteTankEmptySensor();
+bool RdWasteCartridgeParam(cartridge_name cart_name);
+bool CartridgeAuthentication(cartridge_name cart_name);
+bool SetActiveWastCartridge();
+
+
+
+struct waste_cartridge_params
+{
+    uint32_t serial_number;
+    cartridge_status status;  /*WasteEmpty, WasteFilling, WasteFail, WasteFull*/
+    bool autheticate;
+};
+
+struct pump_params
+{
+    bool status;
+    uint32_t time;
+};
+
+
+struct WHS_sensors_status
+{
+    WHS_CarteidgeCoverSensorStatus cartridge_cover;                       /*open(1)          ,close(0)           */
+    WHS_CarteidgPrecenseSensorStatus waste_cartridge1_precense_sensor;      /*presence(1)      ,not_precense(0)    */
+    bool waste_cartridge1_precense_sensor_flag; /* 1=event          0=no enent */
+    WHS_CarteidgPrecenseSensorStatus waste_cartridge2_precense_sensor;      /*presence(1)      ,not_precense(0)    */
+    bool waste_cartridge2_precense_sensor_flag; /* 1=event           0=no enent */
+    bool waste_tank_filter_sensor;              /*presence(1)      ,not_precense(0)    */
+    WHS_EmptySensorStatus waste_tank_empty_sensor; /*enpty(1)         ,not_empty(0)       */
+    WHS_FullSensorStatus waste_tank_full_sensor;   /*full(1)          ,not_full(0)        */
+    bool waste_tank_over_flow_sensor;           /*over_flow(1)     ,not_over_flow(0)   */
+};
+
+
+
+struct WHS_information
+{
+    WHS_sttMachin sttMachine;
+    struct waste_cartridge_params cartridge_1, cartridge_2;
+    struct WHS_sensors_status WHS_sensors;
+    struct pump_params WHS_pump;
+    bool WHS_valve;
+    WHS_sensor event;
+    cartridge_name active_cartridge;
+    uint32_t Cartridge_Waste1_device_Id;
+    uint32_t Cartridge_Waste2_device_Id;
+    uint32_t Cartridge_Cover_device_Id;
+};
+
+struct WHS_information WHS_info;
+
+
+bool WHS_IsEmptying()
+{
+    bool ret =  false;
+    if ( WHS_info.sttMachine == WHS_emptying )
+    {
+        ret = true;
+    }
+    return ret;
+}
+
+
+/* --------    cartridge function  ----*/
+
+
+bool RdWasteCartridgeParam(cartridge_name cart_name)
+{
+    /*
+    read all parameters from RFid cartridge:
+    serial number, cartridge_status...
+    waste_cartridge 1 or 1
+    update waste_cartridge struct
+    */
+    if (cart_name == waste_cartridge1)
+    {
+        WHS_info.cartridge_1.serial_number = temp_funcion; //to do
+        WHS_info.cartridge_1.status = temp_funcion; // to do
+    }
+    else
+    {
+        WHS_info.cartridge_2.serial_number = temp_funcion;
+        WHS_info.cartridge_2.status = temp_funcion;
+    }
+    return OK;
+}
+
+bool CartridgeAuthentication(cartridge_name cart_name)
+{
+    bool ret = notOK;
+    // TBD;
+    switch (cart_name)
+    {
+        case waste_cartridge1:
+            WHS_info.cartridge_1.autheticate = PASSED;
+            break;
+        case waste_cartridge2:
+            WHS_info.cartridge_2.autheticate = PASSED;
+            break;
+        default:
+            WHS_info.cartridge_1.autheticate = FAILED;
+            WHS_info.cartridge_2.autheticate = FAILED;
+            break;
+    }
+    ret = OK;
+    return ret;
+}
+
+/*
+bool check_RFID_authentication()
+{
+    bool ret = notOK;
+ //   rd_waste_cartridge_param();
+    if ( 1 )
+        ret = OK;
+    return ret;
+}
+
+
+U8 Wr_cartridge_RFid(cartridge_name cartridge, cartridge_status status)
+{
+    bool ret = notOK;
+    // TBD;
+    ret = OK;
+    return ret;
+}
+
+U8 set_cartridge_2(U8 cartridge_status)
+{
+    bool ret = notOK;
+    WHS_info.cartridge_2.status = temp_funcion;
+    return ret;
+}
+*/
+
+/* ------------------------------*/
+
+
+bool SetWastePump( bool power)
+{
+    /*
+    set the waste pump on/off
+    off - :
+        1. when waste tank is empty
+        2. when empting is time out
+        3. cartrigde cover is open
+        4. when waste1 is not precense AND valve3way==1
+        5. when waste2 is not precense AND valve3way==2
+        6. when autentication with waste cartige is disable
+    on :
+        1. when waste_tank_full
+
+        void Pumps_Control(PUMPS_ENUM Pump_Id, bool Direction) //1 - OPEN, 0 - CLOSE ?? WHS_WTANKPUMP2 or WASTECH_PUMP2
+    */
+    bool ret = notOK;
+    if ( power == OPEN )
+    {
+        Pumps_Control(WHS_WTANKPUMP2, OPEN); //waste_pump_power_on();
+        REPORT_MSG(WHS_empty," ------------ WHS WHS_empty start PUMP ----------------- ");
+        WHS_info.WHS_pump.status = OPEN;
+        WHS_info.WHS_pump.time = STARTCOUNT;
+        ret = OPEN;
+    }
+    else
+    {
+        Pumps_Control(WHS_WTANKPUMP2, CLOSE); //waste_pump_power_off();
+        REPORT_MSG(WHS_empty," ------------ WHS WHS_empty stop PUMP ----------------- ");
+        WHS_info.WHS_pump.status = CLOSE;
+        WHS_info.WHS_pump.time = STOPCOUNT;
+        ret = CLOSE;
+    }
+    return ret;
+}
+
+
+
+
+bool SetValveDirection()
+{
+    /*
+     * waste_cartridge = 1- OPEN, 0 - CLOSE
+     *   VALVE_WASTE_TANK
+     *
+     * */
+    bool ret = notOK;
+    if (WHS_info.WHS_valve != no_waste_cartridge)
+    {
+        Valve_Set(VALVE_WASTE_TANK, WHS_info.WHS_valve);
+        ret = OK;
+    }
+    return ret;
+}
+
+
+/*--------------------------    function for  WHS  -------------------------------   */
+
+U8 CartridgeWasteFilling(bool status)
+{
+    bool ret = notOK;
+
+    if ((status == ON) && (WHS_info.active_cartridge != no_waste_cartridge))
+    {
+
+       //if (WHS_info.active_cartridge != no_waste_cartridge) //
+        {
+            Valve_Set(VALVE_WASTE_TANK, WHS_info.active_cartridge); //set the valve direction
+            //Pannel_Leds(PANEL_BUTTON_OR_CRAT_ID Pannel_Led_Id, OPERATION_MODE LED_Mode); //set cartridge led color slow blink
+            //write RFID status
+        }
+        SetWastePump(OPEN);
+        //WHS_info.WHS_pump.time = 0;
+        REPORT_MSG(WHS_empty," ------------ WHS WHS_empty start PUMP  ----------------- ");
+    }
+    else // stop Waste cartridge filling
+    {
+        SetWastePump(CLOSE);
+        Valve_Set(VALVE_WASTE_TANK, waste_cartridge2);  //set the valve direction set to low POWER !!!
+        Pannel_Leds( CART_2,  MODE_OFF);                //set led color
+        Pannel_Leds( CART_3,  MODE_OFF);                //set led color
+
+        //write RFID status
+    }
+    return ret;
+}
+
+/* ------read waste tank sensors -----------  */
+bool RdWasteTankEmptySensor()
+{
+    bool ret = notOK;
+    WHS_Read_GPI_Registers();
+    //WHS_info.WHS_sensors.waste_tank_empty_sensor = WHS_GPI_WCONTAINER_WARN();
+    //ret = WHS_info.WHS_sensors.waste_tank_empty_sensor;
+     ret = WHS_GPI_WCONTAINER_WARN();
+     return ret;
+}
+
+bool RdWasteTankFullSensor()
+{
+    bool ret = notOK;
+    WHS_Read_GPI_Registers();
+    //WHS_info.WHS_sensors.waste_tank_full_sensor =  WHS_GPI_WCONTAINER_FULL();
+    //ret = WHS_info.WHS_sensors.waste_tank_full_sensor;
+    ret = WHS_GPI_WCONTAINER_FULL();
+    return ret;
+}
+
+bool RdWasteTankOverFlowSensor()
+{
+    bool ret = notOK;
+    WHS_Read_GPI_Registers();
+    //WHS_info.WHS_sensors.waste_tank_over_flow_sensor =  WHS_GPI_WASTE_OVERFULL();
+    //ret = WHS_info.WHS_sensors.waste_tank_over_flow_sensor;
+    ret = WHS_GPI_WASTE_OVERFULL();
+    return ret;
+}
+
+/*-------------*/
+
+
+WHS_sttMachin UpdateStateMachine()
+{
+    //WHS_sttMachin ret = WHS_sttError  ;
+
+    if ( WHS_info.WHS_sensors.waste_tank_full_sensor == SENSORnotFULL)
+    {
+        WHS_info.sttMachine = WHS_empty  ;
+        REPORT_MSG(WHS_empty," ------------ WHS WHS_empty  ----------------- ");
+    }
+    else if ((WHS_info.WHS_sensors.waste_tank_full_sensor       == SENSORFULL)          &&
+             (WHS_info.WHS_sensors.waste_tank_empty_sensor      == SENSORnotEMPTY))
+    {
+        WHS_info.sttMachine =  WHS_full  ;
+        REPORT_MSG(WHS_full," ------------ WHS WHS_full  ----------------- ");
+    }
+    else
+    {
+        WHS_info.sttMachine =  WHS_sttError  ;
+        REPORT_MSG(WHS_sttError," ------------ WHS sensor Error  ----------------- ");
+    }
+
+/*    if (//(WHS_info.WHS_sensors.waste_tank_over_flow_sensor       == SENSORnotOVERFLOW)   &&
+        ( WHS_info.WHS_sensors.waste_tank_full_sensor            == SENSORnotFULL)       &&
+        ((WHS_info.WHS_sensors.waste_tank_empty_sensor           == SENSORnotEMPTY)     ||
+         (WHS_info.WHS_sensors.waste_tank_empty_sensor           == SENSOREMPTY)))
+        WHS_info.sttMachine = WHS_empty  ;
+    else if (//(WHS_info.WHS_sensors.waste_tank_over_flow_sensor  == SENSORnotOVERFLOW)   &&
+             (WHS_info.WHS_sensors.waste_tank_full_sensor       == SENSORFULL)          &&
+             (WHS_info.WHS_sensors.waste_tank_empty_sensor      == SENSORnotEMPTY))
+        WHS_info.sttMachine =  WHS_full  ;
+    else if (//(WHS_info.WHS_sensors.waste_tank_over_flow_sensor  == SENSOROVERFLOW)      &&
+             (WHS_info.WHS_sensors.waste_tank_full_sensor       == SENSORFULL)          &&
+             (WHS_info.WHS_sensors.waste_tank_empty_sensor      == SENSORnotEMPTY))
+        WHS_info.sttMachine =  WHS_overflow  ;
+    else
+        {
+        WHS_info.sttMachine =  WHS_sttError  ;
+            REPORT_MSG(WHS_sttError," ------------ WHS sensor Error  ----------------- ");
+        }
+*/
+    return OK;
+}
+
+
+bool initWHS_WasteTank()
+{
+    WHS_info.WHS_sensors.waste_tank_empty_sensor = RdWasteTankEmptySensor();
+    WHS_info.WHS_sensors.waste_tank_full_sensor =  SENSORnotFULL;//RdWasteTankFullSensor();
+    UpdateStateMachine();
+    AddControlCallback(WasteTankCBFunction, WasteTankCallBackTime , WasteTankCallBackFunction, 0,0,0);//eOneMinute
+    return OK;
+}
+
+
+/*
+WHS_sensor OverflowSensorEvent()
+{
+    WHS_sensor ret = WHS_no_event;
+    if (RdWasteTankOverFlowSensor() != WHS_info.WHS_sensors.waste_tank_over_flow_sensor)
+    {
+         WHS_info.event =  WHS_overflow_sensor;
+         ret = WHS_overflow_sensor;
+         WHS_info.WHS_sensors.waste_tank_over_flow_sensor = !(WHS_info.WHS_sensors.waste_tank_over_flow_sensor);
+    }
+    return ret;
+}
+*/
+
+WHS_sensor EmptySensorEvent()
+{
+    WHS_sensor ret = WHS_no_event;
+    if (RdWasteTankEmptySensor() != WHS_info.WHS_sensors.waste_tank_empty_sensor)
+    {
+        WHS_info.event =  WHS_empty_sensor;
+        ret = WHS_empty_sensor;
+        WHS_info.WHS_sensors.waste_tank_empty_sensor = !WHS_info.WHS_sensors.waste_tank_empty_sensor;
+    }
+    return ret;
+}
+
+WHS_sensor FullSensorEvent()
+{
+    WHS_sensor ret = WHS_no_event;
+    if ( RdWasteTankFullSensor() != WHS_info.WHS_sensors.waste_tank_full_sensor )
+    {
+        WHS_info.event =  WHS_full_sensor;
+        ret = WHS_full_sensor;
+        WHS_info.WHS_sensors.waste_tank_full_sensor = !WHS_info.WHS_sensors.waste_tank_full_sensor;
+    }
+    return ret;
+}
+
+WHS_sensor WasteTankCallBackFunction()
+{
+    /* detect waste tank sensor event */
+    WHS_sensor ret = WHS_no_event;
+/*    if ( OverflowSensorEvent())
+        {
+         return WHS_info.event;
+        }
+    else */
+    if (WHS_info.WHS_pump.time) WHS_info.WHS_pump.time += 1;
+    if (WHS_info.WHS_pump.time == PumpTimeout)
+    {
+        WHS_info.WHS_pump.time = 0;
+        AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT,  false);
+        return WHS_info.event = WHS_Timeout;
+    }
+    if ( FullSensorEvent())
+         {
+             return WHS_info.event;
+         }
+    else if ( EmptySensorEvent())
+         {
+            return WHS_info.event;
+         }
+
+    return ret;
+}
+
+/*
+bool start_WHS_machin()
+{
+    AddControlCallback( WasteTankCBFunction,  eTenMillisecond, WasteTankCallBackFunction, 0,0,0 );// eOneMinute
+    return OK;
+}
+ */
+
+bool WasteTankCBFunction()
+{
+    bool ret = notOK;
+    static bool pump_on_flag = CLOSE;
+    //uint32_t Cartridge_Cover_device_Id = 0;
+
+
+    switch (WHS_info.event)
+    {
+       case WHS_empty_sensor:
+            if (WHS_info.WHS_sensors.waste_tank_empty_sensor == SENSORnotEMPTY)
+            {
+                if (WHS_info.sttMachine == WHS_empty)
+                    WHS_info.sttMachine = WHS_filling;
+                else
+                {
+                    REPORT_MSG(WHS_filling," ------------ WHS EMPTY sensor failed !!!!!!! ----------------- ");
+                }
+            }
+            else //SENSOREMPTY
+            {
+                if (WHS_info.sttMachine == WHS_emptying)
+                {
+                    WHS_info.sttMachine = 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
+                    //SafeRemoveControlCallback(Cartridge_Cover_device_Id, CartridgeCoverCBFunction );
+                }
+                else
+                {
+                    REPORT_MSG(WHS_emptying," ------------ WHS EMPTY sensor failed !!!!!!! ----------------- ");
+                }
+            }
+            break;
+        case WHS_full_sensor:
+            if (WHS_info.WHS_sensors.waste_tank_full_sensor == SENSORFULL)
+            {
+                if (WHS_info.sttMachine == WHS_filling)
+                {
+                    WHS_info.sttMachine = 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
+                    ret = CartridgeWasteFilling(ON);
+                    // cant start a new Job
+                }
+                else
+                {
+                    REPORT_MSG(WHS_filling," ------------ WHS FULL sensor failed !!!!!!! ----------------- ");
+                }
+            }
+            else
+            {
+                if (WHS_info.sttMachine == WHS_full)
+                {
+                    WHS_info.sttMachine = WHS_emptying;
+                    // can start a new JOB
+                }
+                else
+                {
+                    REPORT_MSG(WHS_full," ------------ WHS FULL sensor failed !!!!!!! ----------------- ");
+                }
+            }
+            break;
+
+/*       case WHS_overflow_sensor:
+            if (WHS_info.WHS_sensors.waste_tank_empty_sensor)
+            {
+
+                // 1.StopMacine
+                 WHS_info.sttMachine = WHS_overflow;
+            }
+            else
+            {
+                WHS_info.sttMachine = WHS_full;
+            }
+            break;
+*/
+        case WHS_cartridge_cover_sensor:
+            if ( WHS_info.WHS_sensors.cartridge_cover == OPEN )
+            {
+                if ( WHS_info.WHS_pump.status == OPEN)
+                {
+                    CartridgeWasteFilling(CLOSE);
+                    pump_on_flag = OPEN;
+                }
+                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
+
+
+
+                //if (WHS_info.WHS_pump == ON)
+                //{
+                //    SetWastePump(OFF); //pump OFF
+                //}
+                // prevent NEW Job
+                // Display "Close cartridge cover"
+                // pop up message in GUI
+            }
+            else // CLOSE
+            {
+                //if (WHS_info.sttMachine == WHS_full) CartridgeWasteFilling(OPEN);
+                SetActiveWastCartridge();
+                if (pump_on_flag == OPEN )
+                {
+                    CartridgeWasteFilling(OPEN);
+                    pump_on_flag = CLOSE;
+                }
+                WHS_info.Cartridge_Waste1_device_Id = RemoveControlCallback(WHS_info.Cartridge_Waste1_device_Id, WasteTankCBFunction );
+                WHS_info.Cartridge_Waste2_device_Id = RemoveControlCallback(WHS_info.Cartridge_Waste2_device_Id, WasteTankCBFunction );
+            }
+            break;
+        case WHS_waste1_presence_sensor :
+                    if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == WHS_CarteidgePrecense ) // waste cartridge 1 is inserted .
+                    {
+                        SetCartridgeLED(waste_cartridge1, led_on);
+                        RdWasteCartridgeParam(waste_cartridge1);
+                        if ( CartridgeAuthentication(waste_cartridge1)) // to define authentication
+                        {
+                            //WHS_info.cartridge_1.autheticate = PASSED; //='0'
+                            //???WHS_info.WHS_valve = waste_cartridge1; // or we should do it only before pumping????
+                            //???SetValveDirection();    // or we should do it only before pumping????
+                        }
+                        else
+                        {
+                            //WHS_info.cartridge_1.autheticate = FAILED; //='1'
+                            SetCartridgeLED(waste_cartridge1, led_off);
+                        }
+                    }
+                    else    // waste cartridge 1 take out
+                    {
+                        WHS_info.cartridge_1.autheticate = FAILED;
+                        //???if (WHS_info.cartridge_2.autheticate == PASSED) // or we should do it only before pumping????
+                        //???{
+                        //???WHS_info.WHS_valve = waste_cartridge;
+                        //???SetValveDirection();
+                        //???}
+                        //???else
+                        //???{
+                        //???
+                        //???}
+                        //???        RdWasteCartridgeParam(waste_cartridge2);
+                        //???WHS_info.WHS_valve = waste_cartridge1;
+                    }
+                    //SetActiveWastCartridge();
+                    break;
+        case WHS_waste2_presence_sensor :
+                    if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == WHS_CarteidgePrecense ) // waste cartridge  is inserted .
+                    {
+                       SetCartridgeLED(waste_cartridge2, led_on);
+                       RdWasteCartridgeParam(waste_cartridge2);
+                       if ( CartridgeAuthentication(waste_cartridge2)) // to define authentication
+                       {
+                           //WHS_info.cartridge_2.autheticate = PASSED; //='0'
+                           //???WHS_info.WHS_valve = waste_cartridge2; // or we should do it only before pumping????
+                           //???SetValveDirection();    // or we should do it only before pumping????
+                       }
+                       else
+                       {
+                           //WHS_info.cartridge_2.autheticate = FAILED; //='1'
+                           SetCartridgeLED(waste_cartridge2, led_off);
+                       }
+                    }
+                    else    // waste cartridge 2 take out
+                    {
+                        WHS_info.cartridge_2.autheticate = FAILED;
+                        /*
+                          if (WHS_info.cartridge_2.autheticate == PASSED) // or we should do it only before pumping????
+                          {
+                            WHS_info.WHS_valve = waste_cartridge;
+                            SetValveDirection();
+                            }
+                       else
+                        {
+
+                        }
+                        RdWasteCartridgeParam(waste_cartridge2);
+                       WHS_info.WHS_valve = waste_cartridge1;
+                       */
+                    }
+                    //SetActiveWastCartridge();
+                    break;
+        case WHS_Timeout:
+            AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT,  true);
+            CartridgeWasteFilling(OFF);
+            break;
+        case WHS_no_event:
+            break;
+        default: //error state
+            break;
+    }
+    WHS_info.event = WHS_no_event;
+    return ret;
+}
+
+
+/*------------------------------- Cartridge  Cover       -----------------------------------------*/
+
+bool RdCartridgeCoverSensor()
+{
+    bool ret = notOK;
+    WHS_Read_GPI_Registers();
+   // WHS_info.WHS_sensors.cartridge_cover = Get_COVER_1_State(CartridgesDoor);
+   // ret = WHS_info.WHS_sensors.cartridge_cover;
+    ret = Get_COVER_1_State(CartridgesDoor);
+    return ret;
+}
+
+
+
+
+WHS_sensor CartridgeCoverCallBackFunction()
+{
+    WHS_sensor ret = WHS_no_event;
+   //ret = RdCartridgeCoverSensor();
+    if (WHS_info.WHS_sensors.cartridge_cover != RdCartridgeCoverSensor())
+    {
+        WHS_info.event = WHS_cartridge_cover_sensor;
+        WHS_info.WHS_sensors.cartridge_cover = !WHS_info.WHS_sensors.cartridge_cover;
+        ret = WHS_cartridge_cover_sensor;
+    }
+    return ret;
+}
+
+WHS_sensor CartridgeWaste1CallBackFunction()
+{
+    WHS_sensor ret = WHS_no_event;
+    //ret = RdCartridgeCoverSensor();
+    if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor != RdWasteCartridge1Sensor())
+    {
+        WHS_info.event = WHS_waste1_presence_sensor;
+        WHS_info.WHS_sensors.waste_cartridge1_precense_sensor = !WHS_info.WHS_sensors.waste_cartridge1_precense_sensor;
+        ret = WHS_waste1_presence_sensor;
+    }
+    return ret;
+}
+
+WHS_sensor CartridgeWaste2CallBackFunction()
+{
+    WHS_sensor ret = WHS_no_event;
+    //ret = RdCartridgeCoverSensor();
+    if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor != RdWasteCartridge2Sensor())
+    {
+        WHS_info.event = WHS_waste2_presence_sensor;
+        WHS_info.WHS_sensors.waste_cartridge2_precense_sensor = !WHS_info.WHS_sensors.waste_cartridge2_precense_sensor;
+        ret = WHS_waste2_presence_sensor;
+    }
+    return ret;
+}
+
+/*------------------------------- Cartridge  Waste       -----------------------------------------*/
+bool InitWasteCartStatus()
+{
+    WHS_info.WHS_sensors.cartridge_cover = RdCartridgeCoverSensor();
+    WHS_info.WHS_sensors.waste_cartridge1_precense_sensor = RdWasteCartridge1Sensor();
+    WHS_info.WHS_sensors.waste_cartridge2_precense_sensor = RdWasteCartridge2Sensor();
+    if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == WHS_CarteidgePrecense) CartridgeAuthentication(waste_cartridge1);
+    if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == WHS_CarteidgePrecense) CartridgeAuthentication(waste_cartridge2);
+    SetActiveWastCartridge();
+
+    if (WHS_info.WHS_sensors.cartridge_cover == WHS_CartridgeCoverOPEN)
+    {
+        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 );
+    }
+    WHS_info.Cartridge_Cover_device_Id = AddControlCallback( WasteTankCBFunction, eOneSecond, CartridgeCoverCallBackFunction, 0,0,0 );
+
+    return OK;
+}
+
+bool RdWasteCartridge1Sensor()
+{
+    bool ret = notOK;
+    WHS_Read_GPI_Registers();
+    //WHS_info.WHS_sensors.waste_cartridge1_precense_sensor = Is_Cartridge_Present(CART_2);
+    //ret = WHS_info.WHS_sensors.waste_cartridge1_precense_sensor;
+    ret = Is_Cartridge_Present(CART_2);
+    return ret;
+}
+
+bool RdWasteCartridge2Sensor()
+{
+    bool ret = notOK;
+    WHS_Read_GPI_Registers();
+    //WHS_info.WHS_sensors.waste_cartridge2_precense_sensor = Is_Cartridge_Present(CART_3);
+    //ret = WHS_info.WHS_sensors.waste_cartridge2_precense_sensor;
+    ret = Is_Cartridge_Present(CART_3);
+    return ret;
+}
+
+bool SetActiveWastCartridge()
+{
+    bool ret = notOK;
+    if (( WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == PRECENSE ) &&
+            (WHS_info.cartridge_1.autheticate == PASSED))    WHS_info.active_cartridge = waste_cartridge1;
+    else if (( WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == PRECENSE) &&
+            (WHS_info.cartridge_2.autheticate == PASSED))    WHS_info.active_cartridge = waste_cartridge2;
+    else WHS_info.active_cartridge = no_waste_cartridge;
+    return ret;
+
+}
+
+/*
+U8 RdWastePrecenseSensor(cartridge_name name)
+{
+
+  //  we have 2 waste_cartridge (waste_cartridge1 and waste_cartridge2)
+  //  bool Is_Cartridge_Present(PANEL_BUTTON_OR_CRAT_ID Cartridge); //use CART_2 or CART_3
+
+    WHS_Read_GPI_Registers();
+    switch (name)
+    {
+        case waste_cartridge1:
+            if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor != Is_Cartridge_Present(CART_2))
+                {
+                    WHS_info.WHS_sensors.waste_cartridge1_precense_sensor = !WHS_info.WHS_sensors.waste_cartridge1_precense_sensor;
+                    WHS_info.event = WHS_waste1_presence_sensor;
+                }
+            break;
+        case waste_cartridge2:
+            if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor != Is_Cartridge_Present(CART_3))
+                {
+                    WHS_info.WHS_sensors.waste_cartridge2_precense_sensor = !WHS_info.WHS_sensors.waste_cartridge2_precense_sensor;
+                    WHS_info.event = WHS_waste2_presence_sensor;
+                }
+            break;
+        default :
+            break;
+    }
+    return OK;
+}
+*/
+/*
+U8 cartridge_handeling()
+{
+    AddControlCallback( CartridgePrecenceCBFunction, eOneMinute, CartridgePrecenceCallBackFunction, 0,0,0 ); //
+    return OK;
+}
+*/
+
+U8 SetCartridgeLED(cartridge_name name,led_status led)
+{
+    bool ret = notOK;
+    return ret;
+}
+
+/*
+U8 CartridgePrecenceCBFunction()
+{
+  if ( WHS_info.WHS_sensors.waste_cartridge1_precense_sensor_flag ) // if we have changes at cartridge1:
+  {
+      if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor) // if new cartridge is presence:
+      {
+          if (rd_waste_cartridge_param()== OK) //read parameter from RFID
+          SetCartridgeLED(waste_cartridge1,led_on);   //change led status to ON
+      }
+      else // if the cartridge is removed
+      {
+          SetCartridgeLED(waste_cartridge1, led_off);   //change led status to OFF
+      }
+      WHS_info.WHS_sensors.waste_cartridge1_precense_sensor_flag = 0; //remove the flag
+
+  }
+  else if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor_flag )
+       {
+          if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor)
+          {
+
+          }
+          else
+          {
+
+          }
+       }
+  return OK;
+}*/
+/*
+U8 CartridgePrecenceCallBackFunction()
+{
+    bool ret = notOK;
+    return ret;
+}
+*/
+
+
+
+
+
+
+
+
+bool CartridgeCoverCBFunction()
+{
+    bool ret = notOK;
+    if (WHS_info.WHS_sensors.cartridge_cover == OPEN)
+    {
+        //if (WHS_info.WHS_pump == ON)
+        //{
+            SetWastePump(OFF); //pump OFF
+        //}
+        // prevent NEW Job
+        // Display "Close cartridge cover"
+        // pop up message in GUI
+    }
+    else
+    {
+        // can do a NEW Job
+        // remove message "Close cartridge cover"
+        // remove pop up message in GUI
+    }
+    WHS_info.event = WHS_no_event;
+    return ret;
+}
+
+
+/*------------------------------------------------------------------------------------------------*/
+
+
+
+U8 WHS_init(void)
+{
+    InitWasteCartStatus();
+    initWHS_WasteTank();
+    SetWastePump(CLOSE);
+    return 0;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+/*----------------------------------    HW Test   --------------------------------------------------------------*/
+
+
+
+bool RdWasteTankFilterSensor()
+{
+    bool ret = notOK;
+    WHS_Read_GPI_Registers();
+    WHS_info.WHS_sensors.waste_tank_filter_sensor = WHS_GPI_SW_FILTER_PRES();
+    ret = WHS_info.WHS_sensors.waste_tank_filter_sensor;
+    return ret;
+}
+
+
+U8 RdCartridgeDoor()
+{
+    bool ret = notOK;
+    ret = RdCartridgeCoverSensor();
+    return ret;
+}
+U8 RdWaste1()
+{
+    bool ret = notOK;
+    ret = RdWasteCartridge1Sensor();
+    return ret;
+}
+U8 RdWaste2()
+{
+    bool ret = notOK;
+    ret = RdWasteCartridge2Sensor();
+    return ret;
+}
+U8 SetValve(bool value)
+{
+    bool ret = notOK;
+    ret = SetValveDirection( );
+    return ret;
+}
+
+U8 SetPump(bool value)
+{
+    bool ret = notOK;
+    ret = SetWastePump(value);
+    return ret;
+}
+
+U8 RdFilter()
+{
+    bool ret = notOK;
+    ret = RdWasteTankFilterSensor();
+    return ret;
+}
+U8 RdEmpty()
+{
+    bool ret = notOK;
+    ret = RdWasteTankEmptySensor();
+    return ret;
+}
+U8 RdFull()
+{
+    bool ret = notOK;
+    ret = RdWasteTankFullSensor();
+    return ret;
+}
+U8 RdOverFlow()
+{
+    bool ret = notOK;
+    RdWasteTankOverFlowSensor();
+    return ret;
+}
+
+
+
+U8 WHS_HW_test()
+{
+    bool ret = notOK;
+/*    ret = RdCartridgeDoor();
+    while (ret == RdCartridgeDoor());
+*/
+/* ---  connect JO271 cable ---*/
+    ret = RdWaste1();
+    while (ret == RdWaste1());// blue = waste1
+    ret = RdWaste2();
+    while (ret == RdWaste2());// yellow = waste2
+
+    /* ---  connect JO71 JO72 JO121  cable ---*/
+
+    ret = SetValve(1); //red LED On
+    ret = SetValve(0); //red LED Off
+
+
+    ret = SetPump(1);  // led green (backplan) On
+    ret = SetPump(0);  // led green (backplan) Off
+
+    ret = RdFilter();
+    while (ret == RdFilter());
+    ret = RdEmpty();
+    while (ret == RdEmpty());
+    ret = RdFull();
+    while (ret == RdFull());
+//    ret = RdOverFlow();
+//    while (ret == RdOverFlow());
+    return ret;
+}
+
+
+
+
+
+
+
+
+/*------------------------------------------------------------------------------------------------*/
+
+/*
+//U8 WasteCartridgeCallBackFunction();
+//U8 WasteCartridgeCBFunction();
+
+bool start_WHS_machin();
+U8 CartridgePrecenceCallBackFunction();
+uint32_t EmptyWasteTankFullCBFunction();
+U8 cartridge_handeling();
+
+U8 RdWastePrecenseSensor(cartridge_name name);
+
+U8 rd_waste_cartridge_param();
+U8 set_cartridge_1(U8 cartridge_status);
+U8 set_cartridge_2(U8 cartridge_status);
+U8 check_sensors_before_start_emptying();
+bool check_RFID_authentication();
+
+uint32_t waste_tank_init(void);
+uint32_t EmptyWasteTankCBFunction();
+
+
+
+U8 WasteCartridgeCallBackFunction()
+{
+    bool ret = notOK;
+
+    ret = RdWastePrecenseSensor(waste_cartridge1);
+    ret = RdWastePrecenseSensor(waste_cartridge2);
+    return ret;
+}
+
+
+U8 Wr_cartridge_RFid(cartridge_name cartridge, cartridge_status status);
+WHS_sttMachin UpdateStateMachine();
+
+*/
+
+//  uint32_t updateWasteTankStruct();
+//uint32_t WasteTankFullCallBackFunction(uint32_t IfIndex, uint32_t ReadValue);
+
+/*--- functipons not in use ----*/
+
+/*
+U8 check_sensors_before_start_emptying() ????????????????????
+{
+    bool ret = notOK;
+
+    if ((WHS_info.WHS_sensors.cartridge_cover == CLOSE) &&
+        (( WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == precense) ||
+         (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == precense)) &&
+        (WHS_info.WHS_sensors.waste_tank_filter_sensor == 1 ))
+    {
+        ret = OK;
+    }
+    return ret;
+}
+
+
+
+
+uint32_t updateWasteTankStruct() //----------what is the timing??????-----------------
+{
+//    bool waste_number =1;
+
+    rd_waste_precense_sensor( );
+    RdWasteTankFilterSensor();
+    rd_whs_cartridge_cover();
+
+//    rd_waste_tank_RdWasteTankEmptySensor_sensor();
+//    RdWasteTankFullSensor();
+//    rd_waste_tank_over_flow_sensor();
+    return OK;
+}
+
+
+
+
+uint32_t WasteTankFullCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
+{
+    if ( RdWasteTankFullSensor() != WHS_info.WHS_sensors.waste_tank_full_sensor )
+    {
+        WHS_info.event =  WHS_full_sensor;
+        WHS_info.WHS_sensors.waste_tank_full_sensor = !WHS_info.WHS_sensors.waste_tank_full_sensor;
+    }
+    return OK;
+}
+
+
+uint32_t WasteTankEmptyCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
+{
+    if (RdWasteTankEmptySensor() != WHS_info.WHS_sensors.waste_tank_empty_sensor)
+    {
+        WHS_info.event =  WHS_empty_sensor;
+        WHS_info.WHS_sensors.waste_tank_empty_sensor = !WHS_info.WHS_sensors.waste_tank_empty_sensor;
+    }
+    return OK;
+}
+
+uint32_t WasteTankOverflowCallBackFunction(uint32_t IfIndex, uint32_t ReadValue)
+{
+    if (rd_waste_tank_over_flow_sensor() != WHS_info.WHS_sensors.waste_tank_over_flow_sensor)
+    {
+         WHS_info.event =  WHS_overflow_sensor;
+         WHS_info.WHS_sensors.waste_tank_over_flow_sensor = !(WHS_info.WHS_sensors.waste_tank_over_flow_sensor);
+    }
+    return OK;
+}
+
+
+U8 CartridgeCoverCallBackFunction()
+{
+    bool ret = notOK;
+    return ret;
+}
+
+
+U8 CartridgeCoverCBFunction()
+{
+    bool ret = notOK;
+    return ret;
+}
+
+
+
+
+uint32_t WHS_machin()
+{
+    switch( WHS_info.sttMachine )
+        {
+            case WHS_empty: // last OnOffPBstate was OFF
+
+               break;
+            case WHS_filling : // last OnOffPBstate was COUNTPB
+
+                break;
+            case WHS_emptying: // last OnOffPBstate was SHORTPB
+
+                 break;
+            case WHS_full:
+
+                 break;
+            case WHS_overflow:
+
+                 break;
+          default:              // WHS_sttError
+               break;
+        }
+    return OK;
+}
+
+
+
+
+uint32_t EmptyWasteTankCBFunction()
+{
+    bool ret = notOK;
+//--------try state machine-------
+    if (WHS_info.event == WHS_no_event)
+        return OK;
+    else
+    {
+//        WHS_info.sttMachine = UpdateStateMachine();
+//        WHS_info.event = WHS_no_event;
+        switch (WHS_info.event)
+        {
+           case WHS_empty_sensor:
+                if (WHS_info.WHS_sensors.waste_tank_empty_sensor)
+                {
+
+                }
+                else
+                {
+                    ret = CartridgeWasteFilling(OFF);
+                }
+                break;
+            case WHS_full_sensor:
+                if (WHS_info.WHS_sensors.waste_tank_full_sensor)
+                {
+                    ret = CartridgeWasteFilling(ON);
+                    // cant start a new Job
+                }
+                else
+                {
+                    // can start a new JOB
+                    WHS_info.sttMachine = WHS_empty;
+                }
+                break;
+            case WHS_overflow_sensor:
+                if (WHS_info.WHS_sensors.waste_tank_empty_sensor)
+                {
+
+                    // 1.StopMacine
+                    // 2.
+
+                    WHS_info.sttMachine = WHS_overflow;
+                }
+                else
+                {
+                    WHS_info.sttMachine = WHS_full;
+                }
+            break;
+            default: //error state
+                break;
+        }
+        WHS_info.event = WHS_no_event;;
+    }
+    return ret;
+}
+
+
+
+uint32_t start_WHS_machin()
+{
+    switch( WHS_info.sttMachine )
+        {
+            case WHS_empty: // last OnOffPBstate was OFF
+                AddControlCallback( 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 ); //
+                break;
+            case WHS_emptying: // last OnOffPBstate was SHORTPB
+                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankEmptyCallBackFunction, 0,0,0 ); //
+                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
+                 break;
+            case WHS_full:
+                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
+                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankOverflowCallBackFunction, 0,0,0 ); //
+                 break;
+            case WHS_overflow:
+                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
+                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankOverflowCallBackFunction, 0,0,0 ); //
+                 break;
+          default:              // WHS_sttError
+               break;
+        }
+    return OK;
+}
+
+*/
+
+//U8 WasteCartridgeCBFunction()
+//{
+//    bool ret = notOK;
+//    switch (WHS_info.event)
+//    {
+//        /*case WHS_waste1_presence_sensor :
+//            if (WHS_info.WHS_sensors.waste_cartridge1_precense_sensor  ) // waste cartridge 1 is inserted .
+//            {
+//                SetCartridgeLED(waste_cartridge1, led_on);
+//                RdWasteCartridgeParam(waste_cartridge1);
+//                if ( CartridgeAuthentication(waste_cartridge1)) // to define authentication
+//                {
+//                    //WHS_info.cartridge_1.autheticate = PASSED; //='0'
+//                    //???WHS_info.WHS_valve = waste_cartridge1; // or we should do it only before pumping????
+//                    //???SetValveDirection();    // or we should do it only before pumping????
+//                }
+//                else
+//                {
+//                    //WHS_info.cartridge_1.autheticate = FAILED; //='1'
+//                    SetCartridgeLED(waste_cartridge1, led_off);
+//                }
+//            }
+//            else    // waste cartridge 1 take out
+//            {
+//                WHS_info.cartridge_1.autheticate = FAILED;
+//                //???if (WHS_info.cartridge_2.autheticate == PASSED) // or we should do it only before pumping????
+//                //???{
+//                //???WHS_info.WHS_valve = waste_cartridge;
+//                //???SetValveDirection();
+//                //???}
+//                //???else
+//                //???{
+//                //???
+//                //???}
+//                //???        RdWasteCartridgeParam(waste_cartridge2);
+//                //???WHS_info.WHS_valve = waste_cartridge1;
+//            }
+//
+//            break;
+//        case WHS_waste2_presence_sensor :
+//            if (WHS_info.WHS_sensors.waste_cartridge2_precense_sensor  ) // waste cartridge  is inserted .
+//            {
+//               SetCartridgeLED(waste_cartridge2, led_on);
+//               RdWasteCartridgeParam(waste_cartridge2);
+//               if ( CartridgeAuthentication(waste_cartridge2)) // to define authentication
+//               {
+//                   //WHS_info.cartridge_2.autheticate = PASSED; //='0'
+//                   //???WHS_info.WHS_valve = waste_cartridge2; // or we should do it only before pumping????
+//                   //???SetValveDirection();    // or we should do it only before pumping????
+//               }
+//               else
+//               {
+//                   //WHS_info.cartridge_2.autheticate = FAILED; //='1'
+//                   SetCartridgeLED(waste_cartridge2, led_off);
+//               }
+//            }
+//            else    // waste cartridge 2 take out
+//            {
+//                WHS_info.cartridge_2.autheticate = FAILED;
+//
+//                  if (WHS_info.cartridge_2.autheticate == PASSED) // or we should do it only before pumping????
+//                  {
+//                    WHS_info.WHS_valve = waste_cartridge;
+//                    SetValveDirection();
+//                    }
+//               else
+//                {
+//
+//                }
+//                RdWasteCartridgeParam(waste_cartridge2);
+//               WHS_info.WHS_valve = waste_cartridge1;
+//
+//            }
+//            break;*/
+//        default:
+//            break;
+//    }
+//
+//    WHS_info.event = WHS_no_event;
+//
+//     return ret;
+//}
+
+
+//IDS_Dispenser_Build_Pressure_Callback
+
+
+/*------------------------------------------------------------------------------------------------*/
+
+
+
+
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
index e385c33a2..64cb99918 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
@@ -23,6 +23,8 @@
 #include "InitSequence.h"
 
 #include "drivers/I2C_Communication/DAC/Blower.h"
+#include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
+#include "drivers/Valves/Valve.h"
 
 #include "heaters/heaters_ex.h"
 
@@ -38,7 +40,7 @@
         INIT_SEQUENCE_MACHINE_READY_TO_DYE,
         INIT_SEQUENCE_END,
     }INIT_SEQUENCE_STAGES_ENUM;
-    INIT_SEQUENCE_STAGES_ENUM InitStages = INIT_SEQUENCE_INIT;
+    INIT_SEQUENCE_STAGES_ENUM InitStages = INIT_SEQUENCE_INIT, StoredInitStages = INIT_SEQUENCE_INIT;
     MACHINE_STATE_STAGES_ENUM MachineState = MACHINE_STATE_INIT;
 
 MACHINE_STATE_STAGES_ENUM GetMachineState(void)
@@ -49,7 +51,9 @@ void SetMachineState(MACHINE_STATE_STAGES_ENUM NewState)
 {
     MachineState = NewState;
 }
-uint32_t HWControlId;
+uint32_t HWControlId,InitSchedulerControlId;
+uint32_t MidTankControlId;
+
 uint32_t RESET_Cause = 0;
 
 void InitSequenceResetReason(void);
@@ -72,7 +76,7 @@ uint32_t InitSequenceCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
     {
         ActivateHeadMagnet();
         InitStages++;
-        InitSequenceStateMachine(InitStages);
+        //InitSequenceStateMachine(InitStages);
     }
     else
     {
@@ -81,11 +85,23 @@ uint32_t InitSequenceCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
     }
         return OK;
 }
+/*******************************************************************************************************/
+uint32_t InitScheduler(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    if (InitStages > StoredInitStages)
+    {
+        StoredInitStages = InitStages;
+        InitSequenceStateMachine(InitStages);
+    }
+    return OK;
+}
+/*******************************************************************************************************/
 
 uint32_t Start_InitSequence(void)
 {
     MachineState = MACHINE_STATE_HW_CONFIG;
     HWControlId = AddControlCallback( InitSequenceCallBackFunction, 4* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    InitSchedulerControlId = AddControlCallback( InitScheduler, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     return OK;
 }
 void InitSequenceResetReason(void)
@@ -104,7 +120,7 @@ void InitSequenceResetReason(void)
     LOG_ERROR(RESET_Cause,"Reset Reason Register");
     SysCtlResetCauseClear(RESET_Cause);
     InitStages++;
-    InitSequenceStateMachine(InitStages);
+    //InitSequenceStateMachine(InitStages);
 
     //return OK;
 }
@@ -113,7 +129,7 @@ void InitSequenceBuiltInTestCallBack(uint32_t IfIndex, uint32_t BusyFlag)
     if (1)//BIT OK
     {
         InitStages++;
-        InitSequenceStateMachine(InitStages);
+        //InitSequenceStateMachine(InitStages);
     }
     else
     {
@@ -127,6 +143,44 @@ uint32_t InitSequenceBuiltInTest(void)
     InitSequenceBuiltInTestCallBack(0,0);
     return OK;
 }
+int MidTankOperationCounter = 0;
+uint32_t InitSequenceMidTankCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    int MidTankOpenAir = 8;
+    int MidTankReadPressure = 16;
+    int MidTankCloseAir = 24;
+    int MidTankEnd = 32;
+    int portId;
+
+    if (MidTankOperationCounter >= MidTankEnd)
+    {
+        SafeRemoveControlCallback(MidTankControlId, InitSequenceMidTankCallBackFunction);
+    }
+    else if (MidTankOperationCounter >= MidTankCloseAir)
+    {
+        //close air valve for midtank (MidTankOperationCounter-MidTankCloseAir)
+        portId = (MidTankOperationCounter - MidTankCloseAir) ; //0-7
+        Disable_MidTank_Pressure_Reading(portId);
+        Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_OFF );   //Atm_MidTank_OFF/ON
+    }
+    else if (MidTankOperationCounter >= MidTankReadPressure)
+    {
+        //read pressure for midtank (MidTankOperationCounter-MidTankCloseAir)
+        for (portId = 0;portId < MAX_SYSTEM_DISPENSERS;portId++)
+        {
+            Read_MidTank_Pressure_Sensor(portId);
+        }
+    }
+    else if (MidTankOperationCounter >= MidTankOpenAir)
+    {
+        //open air valve for midtank (MidTankOperationCounter-MidTankOpenAir)
+        portId = (MidTankOperationCounter - MidTankOpenAir) ; //0-7
+        Enable_MidTank_Pressure_Reading(portId);
+        Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
+    }
+    MidTankOperationCounter++;
+    return OK;
+}
 uint32_t InitSequenceBlowerCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 {
     if (SafeRemoveControlCallback(HWControlId, InitSequenceBlowerCallBackFunction )==OK)
@@ -137,7 +191,7 @@ uint32_t InitSequenceBlowerCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
         Control_Voltage_To_Blower(BlowerCfg.heatingvoltage);
     Safety_Init();
     InitStages++;
-    InitSequenceStateMachine(InitStages);
+    //InitSequenceStateMachine(InitStages);
     return OK;
 }
 uint32_t InitSequenceInitialBlowerActivation(void)
@@ -150,20 +204,46 @@ uint32_t InitSequenceInitialBlowerActivation(void)
             Control_Voltage_To_Blower(BlowerCfg.voltage);
         HWControlId = AddControlCallback( InitSequenceBlowerCallBackFunction, 10* eOneSecond/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
     }
+    MidTankControlId = AddControlCallback( InitSequenceMidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
+
+    return OK;
+}
+int NumOfCheckedDispnsers = 0;
+uint32_t InitSequenceDispenserPressureBuildUpTestCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    NumOfCheckedDispnsers--;
+    if(NumOfCheckedDispnsers==0)
+    {
+        InitStages++;
+        //InitSequenceStateMachine(InitStages);
+        MachineState = MACHINE_STATE_DISPENSER_PRESSURE_BUILDUP_TEST;
+
+    }
     return OK;
 }
 uint32_t InitSequenceDispenserPressureBuildUpTest(void)
 {
-    InitStages++;
-    InitSequenceStateMachine(InitStages);
-    MachineState = MACHINE_STATE_DISPENSER_PRESSURE_BUILDUP_TEST;
+    int Dispenser_i;
+    Report("InitSequenceDispenserPressureBuildUpTest",__FILE__,__LINE__,(int)0,RpWarning,(int)0,0);
+
+    for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+    {
+        if (isMotorConfigured(Dispenser_i + HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1)==true)
+        {
+            IDS_Dispenser_Build_Pressure(Dispenser_i,InitSequenceDispenserPressureBuildUpTestCallBackFunction);
+            Report("IDS_Dispenser_Build_Pressure",__FILE__,__LINE__,(int)Dispenser_i,RpWarning,(int)Dispenser_i,0);
+            NumOfCheckedDispnsers++;
+        }
+    }
+
+
    return OK;
 }
 uint32_t InitSequenceThreadDetection(void)
 {
     InitStages++;
     MachineState = MACHINE_STATE_THREAD_DETECTION;
-    InitSequenceStateMachine(InitStages);
+    //InitSequenceStateMachine(InitStages);
     return OK;
 }
 
@@ -177,7 +257,7 @@ uint32_t InitSequenceStartHeatingCallBackFunction(uint32_t IfIndex, uint32_t Bus
         else
             Report("Remove control callback failed",__FILE__,__LINE__,(int)HWControlId,RpWarning,(int)InitSequenceStartHeatingCallBackFunction,0);
         InitStages++;
-        InitSequenceStateMachine(InitStages);
+        //InitSequenceStateMachine(InitStages);
     }
     return OK;
 }
@@ -243,6 +323,7 @@ uint32_t InitSequenceStateMachine( INIT_SEQUENCE_STAGES_ENUM ReadValue)
             break;
         default:
             LOG_ERROR(ReadValue,"ERROR IN INIT STATE MACHINE");
+            RemoveControlCallback( InitSchedulerControlId,InitScheduler);
             break;
     }
 return OK;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
new file mode 100644
index 000000000..22b30748f
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
@@ -0,0 +1,130 @@
+/*
+ * PowerIdle.c
+ *
+ *  Created on: Apr 3, 2019
+ *      Author: shlomo
+ */
+#include "modules/General/GeneralHardware.h"
+#include "modules/General/Safety.h"
+#include "modules/thread/thread.h"
+#include "modules/ids/ids.h"
+#include "modules/control/control.h"
+#include "modules/AlarmHandling/AlarmHandling.h"
+#include "modules/heaters/heaters_ex.h"
+#include "modules/Diagnostics/Diagnostics.h"
+#include "Modules/General/process.h"
+
+#include "StateMachines/Printing/PrintingSTM.h"
+#include "InitSequence.h"
+
+#include "drivers/I2C_Communication/DAC/Blower.h"
+#include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
+#include "drivers/Valves/Valve.h"
+
+#include "Modules/General/buttons.h"
+
+#include "heaters/heaters_ex.h"
+
+#define DEFAULT_IDLE_TIME_LIMIT 3600
+int powerIdleSecondsCounter = 0;
+int powerIdleSecondsLimit = DEFAULT_IDLE_TIME_LIMIT;
+bool powerIdleState = false;
+bool machineActive = false;
+uint32_t IdleControlId = 0xFF;
+ProcessParameters ActiveProcessParameters;
+void PowerIdleSetIdle(void)
+{
+    memcpy (&ActiveProcessParameters,&ProcessParametersKeep,sizeof(ProcessParameters));
+    ProcessParameters ProcessParametersClear;
+    ProcessParametersClear.dryerzone1temp = 80;
+    ProcessParametersClear.dryerzone2temp = 80;
+    ProcessParametersClear.dryerzone3temp = 80;
+    ProcessParametersClear.mixertemp      = 0;
+    ProcessParametersClear.headzone1temp  = 80;
+    ProcessParametersClear.headzone2temp  = 80;
+    ProcessParametersClear.headzone3temp  = 80;
+    ProcessParametersClear.headzone4temp  = 80;
+    ProcessParametersClear.headzone5temp  = 80;
+    ProcessParametersClear.headzone6temp  = 80;
+    ProcessParametersClear.dyeingspeed = 40;
+    if (HandleProcessParameters(&ProcessParametersClear)!= OK)
+    {
+        LOG_ERROR (1, "Turn Heaters idle failed");
+        return;
+    }
+    if (BlowerCfg.enabled == true)
+    {
+        Turn_the_Blower_On();//Turn on with the Default_Voltage
+        if (BlowerCfg.heatingvoltage)
+            Control_Voltage_To_Blower(BlowerCfg.heatingvoltage);
+        else
+            Control_Voltage_To_Blower(BlowerCfg.voltage-500);
+    }
+}
+
+uint32_t PowerIdleCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    if (machineActive == true)
+        return OK;
+    if (powerIdleSecondsCounter%10 == 0)
+        Report("PowerIdle Idle counter ",__FILE__,__LINE__,(int)powerIdleSecondsLimit,RpWarning,(int)powerIdleSecondsCounter,0);
+
+    if (++powerIdleSecondsCounter>=powerIdleSecondsLimit)
+    {
+        if (powerIdleState == false)
+        {
+            Report("PowerIdle Idle activated ",__FILE__,__LINE__,(int)powerIdleSecondsLimit,RpWarning,(int)powerIdleSecondsCounter,0);
+            powerIdleState = true;
+            //SetPowerMachineState(sttIDLE);
+            //move to idle state
+            PowerIdleSetIdle();
+        }
+    }
+    return OK;
+}
+void PowerIdleInit(void)
+{
+    IdleControlId = AddControlCallback( 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);
+
+}
+int getIdleCounter (void) {return powerIdleSecondsCounter;}
+void setIdleLimit (int Limit) {powerIdleSecondsLimit = Limit;}
+void setmachineActive(bool Active){machineActive = Active;}
+void resetIdleCounter (void) {powerIdleSecondsCounter = 0;}
+bool getIdleState (void) {return powerIdleState;}
+
+void PowerIdleOutOfIdleState(void)
+{
+    Report("PowerIdle Out of Idle  ",__FILE__,__LINE__,(int)powerIdleSecondsLimit,RpWarning,(int)powerIdleSecondsCounter,0);
+    powerIdleSecondsCounter = 0;
+    if (powerIdleState == true)
+    {
+        powerIdleState = false;
+        //SetPowerMachineState(sttON);
+        if (HandleProcessParameters(&ActiveProcessParameters)!= OK)
+        {
+            LOG_ERROR (1, "Turn Heaters active failed");
+            return ;
+        }
+    }
+
+}
+void PowerIdleActivateIdleState(void)
+{
+    Report("PowerIdle Activate Idle  ",__FILE__,__LINE__,(int)machineActive,RpWarning,(int)powerIdleSecondsCounter,0);
+    if (machineActive == true)
+    {
+        LOG_ERROR(machineActive, "machine is active, cannot switch on idle state");
+        return;
+    }
+    powerIdleSecondsCounter = 0;
+    if (powerIdleState == false)
+    {
+        powerIdleState = true;
+        PowerIdleSetIdle();
+    }
+
+}
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.h b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.h
new file mode 100644
index 000000000..efe0e7cb4
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.h
@@ -0,0 +1,27 @@
+/*
+ * PowerIdle.h
+ *
+ *  Created on: Apr 3, 2019
+ *      Author: shlomo
+ */
+
+#ifndef STATEMACHINES_INITIALIZATION_POWERIDLE_H_
+#define STATEMACHINES_INITIALIZATION_POWERIDLE_H_
+
+int getIdleCounter (void);
+
+void setIdleLimit (int Limit);
+
+void resetIdleCounter (void);
+bool getIdleState (void);
+
+void PowerIdleOutOfIdleState(void);
+void PowerIdleActivateIdleState(void);
+
+void setmachineActive(bool Active);
+void PowerIdleInit(void);
+
+
+
+
+#endif /* STATEMACHINES_INITIALIZATION_POWERIDLE_H_ */
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
new file mode 100644
index 000000000..454204229
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
@@ -0,0 +1,347 @@
+/*
+ * PowerOffSequence.c
+ *
+ *  Created on: Apr 2, 2019
+ *      Author: shlomo
+ */
+
+
+#include "modules/General/GeneralHardware.h"
+#include "modules/General/Safety.h"
+#include "modules/thread/thread.h"
+#include "modules/waste/waste.h"
+#include "modules/ids/ids.h"
+#include "modules/control/control.h"
+#include "modules/AlarmHandling/AlarmHandling.h"
+#include "modules/heaters/heaters_ex.h"
+#include "modules/Diagnostics/Diagnostics.h"
+#include "Modules/General/process.h"
+
+#include "Modules/Thread/Thread_ex.h"
+#include "Common/SWUpdate/FirmwareUpgrade.h"
+
+#include "StateMachines/Printing/PrintingSTM.h"
+#include "PowerIdle.h"
+#include "InitSequence.h"
+
+#include "drivers/I2C_Communication/DAC/Blower.h"
+#include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
+#include "drivers/Heater/TemperatureSensor.h"
+#include "drivers/Valves/Valve.h"
+
+#include "heaters/heaters_ex.h"
+
+#include "PowerOffSequence.h"
+/*
+    typedef enum
+    {
+        POWER_OFF_INIT,
+        POWER_OFF_HEAD_CLEAN,
+        POWER_OFF_MIXER_FLUSH,
+        POWER_OFF_HEATERS_OFF,
+        POWER_OFF_STORE_DATA,
+        POWER_OFF_WAIT_FOR_PROCESSES,//wait for waste emptying, ink filling, thread loading
+        POWER_OFF_STOP_RUNNING_JOB,
+        POWER_OFF_SET_VALVE_POSITION,
+        POWER_OFF_WAIT_FOR_TEMPERATURE,
+        POWER_OFF_TURN_OFF_DRYER_FAN,
+        POWER_OFF_TURN_OFF_COOLER,
+        POWER_OFF_TURN_OFF_BLOWER,
+        POWER_OFF_POWER_OFF,
+        POWER_OFF_MAX,
+    }POWER_OFF_STAGES_ENUM;
+*/
+POWER_OFF_STAGES_ENUM PowerOffMachineState = POWER_OFF_INIT,StoredMachineState = POWER_OFF_INIT;
+uint32_t PowerOffControlId = 0xFF;
+uint32_t WaitForProcessControlId = 0xFF;
+uint32_t PowerOffSequenceStateMachine( POWER_OFF_STAGES_ENUM ReadValue);
+
+/*******************************************************************************************************/
+uint32_t PowerOffScheduler(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    if (PowerOffMachineState > StoredMachineState)
+    {
+        StoredMachineState = PowerOffMachineState;
+        PowerOffSequenceStateMachine (PowerOffMachineState);
+    }
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffInit(void)
+{
+    LOG_ERROR(0,"Power Off Init");
+    PowerOffMachineState = POWER_OFF_HEAD_CLEAN;
+    PowerOffControlId = AddControlCallback( PowerOffScheduler, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffCancel(void)
+{
+    if (PowerOffMachineState >= POWER_OFF_HEAD_CLEAN)
+        PowerOffMachineState = POWER_OFF_CANCELLED;
+    return OK;
+}
+
+/*******************************************************************************************************/
+uint32_t PowerOffHeadClean(void)
+{
+    //TBD
+    PowerOffMachineState = POWER_OFF_MIXER_FLUSH;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffMixerFlush(void)
+{
+    //TBD
+    PowerOffMachineState = POWER_OFF_HEATERS_OFF;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffHeatersOff(void)
+{
+    ProcessParameters ProcessParametersClear;
+    ProcessParametersClear.dryerzone1temp = 0;
+    ProcessParametersClear.dryerzone2temp = 0;
+    ProcessParametersClear.dryerzone3temp = 0;
+    ProcessParametersClear.mixertemp      = 0;
+    ProcessParametersClear.headzone1temp  = 0;
+    ProcessParametersClear.headzone2temp  = 0;
+    ProcessParametersClear.headzone3temp  = 0;
+    ProcessParametersClear.headzone4temp  = 0;
+    ProcessParametersClear.headzone5temp  = 0;
+    ProcessParametersClear.headzone6temp  = 0;
+    ProcessParametersClear.dyeingspeed = 40;
+    if (HandleProcessParameters(&ProcessParametersClear)!= OK)
+    {
+        LOG_ERROR (PowerOffMachineState, "Turn Off Heaters  failed");
+        return ERROR;
+    }
+
+    PowerOffMachineState = POWER_OFF_STORE_DATA;
+
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffStoreData(void)
+{
+    //TBD
+    REPORT_MSG (PowerOffMachineState, "Store Data");
+    IDS_Dispenser_Store_Data();
+    PowerOffMachineState = POWER_OFF_WAIT_FOR_PROCESSES;
+    return OK;
+}
+/*******************************************************************************************************/
+int WaitForProcessCounter = 0;
+uint32_t PowerOffWaitForProcessesCallback(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    if ((WHS_IsEmptying()||
+        //MidTankFillingActive()||
+        ThreadLoadingActive()||
+        SwUpgradeActive())&&
+        (WaitForProcessCounter++<900))
+    {
+        REPORT_MSG (PowerOffMachineState, "On going processes, wait for end of process");
+        resetIdleCounter();
+    }
+    else
+    {
+        PowerOffMachineState = POWER_OFF_SET_VALVE_POSITION;
+        SafeRemoveControlCallback(WaitForProcessControlId, PowerOffWaitForProcessesCallback);
+        WaitForProcessControlId = 0xFF;
+    }
+ return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffWaitForProcesses(void)
+{
+    int i;
+    REPORT_MSG (PowerOffMachineState, "Stop dispensers homing");
+    for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
+        IDS_StopHomeDispenser(i);
+    if (WHS_IsEmptying()||
+        //MidTankFillingActive()||
+        ThreadLoadingActive()||
+        SwUpgradeActive())
+    {
+        WaitForProcessCounter = 0; //15 minutes wait
+        REPORT_MSG (PowerOffMachineState, "On going processes, wait for end of process");
+        WaitForProcessControlId = AddControlCallback( PowerOffWaitForProcessesCallback, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    }
+    else
+    {
+        PowerOffMachineState = POWER_OFF_STOP_RUNNING_JOB;
+    }
+    //TBD
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffStopRunningJob(void)
+{
+    if (JobIsActive())
+    {
+        REPORT_MSG (PowerOffMachineState, "Stop running job");
+        AbortJob("Power off pressed");
+    }
+    PowerOffMachineState = POWER_OFF_SET_VALVE_POSITION;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffSetValvePosition(void)
+{
+    //TBD
+    PowerOffMachineState = POWER_OFF_WAIT_FOR_TEMPERATURE;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffWaitForTemperatureCallback(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    uint32_t MaxTemp = 0,readTemp;
+    readTemp = TemperatureSensorRead( MIXER_PT100);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP1);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP2);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP3);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP4);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DYEINGH_TEMP5);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( HEAD6_PT100);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+    readTemp = TemperatureSensorRead( TEMP_SENSE_ANALOG_DRYER_TEMP1);
+    if ((readTemp>= MaxTemp)&&(readTemp < 28000))
+        MaxTemp = readTemp;
+
+#define POWER_OFF_TEMP_THRESHOLD 10000
+
+    if ((MaxTemp>POWER_OFF_TEMP_THRESHOLD)&&(WaitForProcessCounter++<1800))
+    {
+        Report("On going cooling down, wait for end of cooling",__FILE__,__LINE__,(int)MaxTemp,RpWarning,(int)WaitForProcessCounter,0);
+        resetIdleCounter();
+    }
+    else
+    {
+        Report("ended cooling down, wait for end of cooling",__FILE__,__LINE__,(int)MaxTemp,RpWarning,(int)WaitForProcessCounter,0);
+        PowerOffMachineState = POWER_OFF_TURN_OFF_DRYER_FAN;
+        SafeRemoveControlCallback(WaitForProcessControlId, PowerOffWaitForTemperatureCallback);
+        WaitForProcessControlId = 0xFF;
+    }
+ return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffWaitForTemperature(void)
+{
+    if (WaitForProcessControlId == 0xFF)
+    {
+        WaitForProcessCounter = 0;
+        WaitForProcessControlId = AddControlCallback( PowerOffWaitForTemperatureCallback, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    }
+    //TBD
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffTurnOffDryerFan(void)
+{
+    Control_Dryer_Fan(STOP,75);//use START or STOP,  0 - 100%
+    PowerOffMachineState = POWER_OFF_TURN_OFF_COOLER;
+
+    //TBD
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffTurnOffCooler(void)
+{
+    uint32_t DeActivateChiller();
+    PowerOffMachineState = POWER_OFF_TURN_OFF_BLOWER;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffTurnOffBlower(void)
+{
+    Turn_the_Blower_Off();//Turn off
+    PowerOffMachineState = POWER_OFF_POWER_OFF;
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffPowerOff(void)
+{
+    int i;
+    for (i = 0;i<10;i++)
+    {
+        REPORT_MSG (10-i, "Power off in x seconds");
+        Task_sleep (1000);
+    }
+    Power_Off();
+    return OK;
+}
+/*******************************************************************************************************/
+uint32_t PowerOffSequenceStateMachine( POWER_OFF_STAGES_ENUM ReadValue)
+{
+    uint32_t status = OK;
+
+    REPORT_MSG(ReadValue,"PowerOffSequenceStateMachine");
+    switch (ReadValue)
+    {
+    case POWER_OFF_INIT:
+        break;
+    case POWER_OFF_HEAD_CLEAN:
+        status = PowerOffHeadClean();
+        break;
+    case POWER_OFF_MIXER_FLUSH:
+        status = PowerOffMixerFlush();
+        break;
+    case POWER_OFF_HEATERS_OFF:
+        status = PowerOffHeatersOff();
+        break;
+    case POWER_OFF_STORE_DATA:
+        status = PowerOffStoreData();
+        break;
+    case POWER_OFF_WAIT_FOR_PROCESSES: //wait for waste emptying: ink filling: thread loading
+        status = PowerOffWaitForProcesses();
+        break;
+    case POWER_OFF_STOP_RUNNING_JOB:
+        status = PowerOffStopRunningJob();
+        break;
+    case POWER_OFF_SET_VALVE_POSITION:
+        status = PowerOffSetValvePosition();
+        break;
+    case POWER_OFF_WAIT_FOR_TEMPERATURE:
+        status = PowerOffWaitForTemperature();
+        break;
+    case POWER_OFF_TURN_OFF_DRYER_FAN:
+        status = PowerOffTurnOffDryerFan();
+        break;
+    case POWER_OFF_TURN_OFF_COOLER:
+        status = PowerOffTurnOffCooler();
+        break;
+    case POWER_OFF_TURN_OFF_BLOWER:
+        status = PowerOffTurnOffBlower();
+        break;
+    case POWER_OFF_POWER_OFF:
+        status = PowerOffPowerOff();
+        break;
+    case POWER_OFF_ERROR:
+    case POWER_OFF_CANCELLED:
+        RemoveControlCallback( PowerOffControlId,PowerOffScheduler);
+        PowerOffControlId = 0xFF;
+        RemoveControlCallback(WaitForProcessControlId, PowerOffWaitForProcessesCallback);
+        RemoveControlCallback(WaitForProcessControlId, PowerOffWaitForTemperatureCallback);
+        WaitForProcessControlId = 0xFF;
+        LOG_ERROR(ReadValue,"POWER OFF Cancelled");
+        break;
+    default:
+        LOG_ERROR(ReadValue,"ERROR IN POWER OFF STATE MACHINE");
+        break;
+    }
+return OK;
+}
+
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h
new file mode 100644
index 000000000..af4d4230d
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h
@@ -0,0 +1,36 @@
+/*
+ * PowerOffSequence.h
+ *
+ *  Created on: Apr 2, 2019
+ *      Author: shlomo
+ */
+
+#ifndef STATEMACHINES_INITIALIZATION_POWEROFFSEQUENCE_H_
+#define STATEMACHINES_INITIALIZATION_POWEROFFSEQUENCE_H_
+
+    typedef enum
+    {
+        POWER_OFF_INIT,
+        POWER_OFF_HEAD_CLEAN,
+        POWER_OFF_MIXER_FLUSH,
+        POWER_OFF_HEATERS_OFF,
+        POWER_OFF_STORE_DATA,
+        POWER_OFF_WAIT_FOR_PROCESSES,//wait for waste emptying, ink filling, thread loading
+        POWER_OFF_STOP_RUNNING_JOB,
+        POWER_OFF_SET_VALVE_POSITION,
+        POWER_OFF_WAIT_FOR_TEMPERATURE,
+        POWER_OFF_TURN_OFF_DRYER_FAN,
+        POWER_OFF_TURN_OFF_COOLER,
+        POWER_OFF_TURN_OFF_BLOWER,
+        POWER_OFF_POWER_OFF,
+        POWER_OFF_ERROR,
+        POWER_OFF_CANCELLED,
+        POWER_OFF_MAX,
+    }POWER_OFF_STAGES_ENUM;
+
+
+uint32_t PowerOffInit(void);
+uint32_t PowerOffCancel(void);//POWER_OFF_CANCELLED
+
+
+#endif /* STATEMACHINES_INITIALIZATION_POWEROFFSEQUENCE_H_ */
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 8c3d127ab..b5034a11c 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -37,6 +37,7 @@
 #include "PMR/Printing/CurrentJobResponse.pb-c.h"
 #include "PMR/Printing/ResumeCurrentJobRequest.pb-c.h"
 #include "PMR/Printing/ResumeCurrentJobResponse.pb-c.h"
+#include "PMR/Printing/JobUploadStrategy.pb-c.h"
 #include "PMR/Printing/JobStatus.pb-c.h"
 #include "PMR/Printing/AbortJobRequest.pb-c.h"
 #include "PMR/Printing/AbortJobResponse.pb-c.h"
@@ -58,6 +59,7 @@
 #include "PMR/Diagnostics/ThreadAbortJoggingRequest.pb-c.h"
 #include "PMR/Diagnostics/ThreadAbortJoggingResponse.pb-c.h"
 
+#include "StateMachines/Initialization/PowerIdle.h"
 
 #include "./printingSTM.h"
 #include "modules/thread/thread_ex.h"
@@ -88,7 +90,7 @@ JobSegment *TSegment;
 JobSpool *Tspool;
 bool CopyConfigured[MAX_SYSTEM_MODULES];
 char ErrorMsg[100];
-
+JobUploadStrategy uploadstrategy = JOB_UPLOAD_STRATEGY__Default;
 
 ModuleStateEnum PrepareWaiting[MAX_SYSTEM_MODULES] = {ModuleIdle,ModuleIdle,ModuleIdle,ModuleIdle,ModuleIdle};
 
@@ -377,6 +379,7 @@ uint32_t ThreadJoggingFunc(int speed)
         {
         //load essential job prameters to enable thread running
             Ticket.n_segments = 1;
+            n_segments = 1;
             Ticket.segments = my_malloc(sizeof(Ticket.segments));
             TSegment = my_malloc(sizeof(JobSegment));
             Tspool = my_malloc(sizeof(JobSpool));
@@ -387,7 +390,7 @@ uint32_t ThreadJoggingFunc(int speed)
             Tspool->bottombackingrate = 18;
             Tspool->segmentoffsetpulses = 1000;
             Tspool->startoffsetpulses = 240;
-            Tspool->rotationsperpassage = 6;
+            Tspool->rotationsperpassage = 3.1415926*2;
             Ticket.spool = Tspool;
             CurrentJob = &Ticket;
             InternalWindingConfigMessage(Tspool);
@@ -587,6 +590,10 @@ void JobRequestFunc(MessageContainer* requestContainer)
     ErrorCode error = ERROR_CODE__NONE;
     JobEndReasonEnum JobAlarmReason = JOB_OK;
 
+    if (JobActive == true)
+    {
+		LOG_ERROR(JobActive, "Job started while active");
+	}
     JobRequest* request = job_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     if (request != NULL)
     {
@@ -608,7 +615,17 @@ void JobRequestFunc(MessageContainer* requestContainer)
             if (CurrentRequest!= NULL)
                 job_request__free_unpacked(CurrentRequest,NULL);
             CurrentRequest = request;
-
+            n_segments = 0;
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                LOG_ERROR(JobActive, "Job upload strategy file");
+                uploadstrategy = JOB_UPLOAD_STRATEGY__JobDescriptionFile;
+            }
+            else
+            {
+                uploadstrategy = JOB_UPLOAD_STRATEGY__Default;
+                n_segments = CurrentJob->n_segments;
+            }
             status  = PASSED;
             JobEndReason = JOB_OK;
             JobAlarmReason = AlarmHandlingPrepareJob(CurrentJob);
@@ -645,7 +662,8 @@ void JobRequestFunc(MessageContainer* requestContainer)
         }
         if (status == PASSED)
         {
-            Report("Job Request ",__FILE__,__LINE__,Ticket->processparameters->dyeingspeed,RpWarning,Ticket->n_segments, Ticket->intersegmentlength);
+            Report("Job Request ",__FILE__,__LINE__,Ticket->processparameters->dyeingspeed,RpWarning,n_segments, Ticket->intersegmentlength);
+            OpenJobFile();
             StartJob(CurrentJob);
         }
     }
@@ -937,6 +955,7 @@ Void jobTask(UArg arg0, UArg arg1)
             case JobRequestMsg:
                 JobEndReason = JOB_OK;
                 JobActive = true;
+                setmachineActive(true);
                 /*ValidateState (CurrentJob);
                 break;
             case ValidationResultsOk:*/
@@ -960,6 +979,8 @@ Void jobTask(UArg arg0, UArg arg1)
                 break;
             case PrintingResultsOk:
                 JobActive = false;
+                setmachineActive(false);
+                resetIdleCounter();
                 CurrentJob = NULL;
                   //if (CurrentRequest!= NULL)
                   //    job_request__free_unpacked(CurrentRequest,NULL);
@@ -971,6 +992,8 @@ Void jobTask(UArg arg0, UArg arg1)
                 break;
             case PrintingResultsFail:
                 JobActive = false;
+                setmachineActive(false);
+                resetIdleCounter();
                 CurrentJob = NULL;
                   //if (CurrentRequest!= NULL)
                   //    job_request__free_unpacked(CurrentRequest,NULL);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index abbfe07b6..c52ed8b4c 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -25,6 +25,10 @@
 #include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
 #include "modules/General/process.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "Common/SWUpdate/FileSystem.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
 ////////////////////////////////State machine operation////////////////////////////////////
 //the state machine operation is used to operate in runtime correct profile flow execution
 //by recieved esign flow of the user from the UI
@@ -34,11 +38,11 @@
 * functions describes motor operation flow and movement state during profile execution
 * used to operate in runtime correct profileflow execution
 *********************************************************************************************/
-static uint32_t PreSegmentState(void *JobDetails, int);
-static uint32_t SegmentState(void *JobDetails, int);
+static uint32_t PreSegmentState(void *Segment, int);
+static uint32_t SegmentState(void *Segment, int);
 uint32_t EndState(void *JobDetails, char *Message);
 //static uint32_t ExitState(void *JobDetails);
-
+uint16_t n_segments = 0;
 /**********************************************************************
 * the array and enum of PrintingState_t below must be in sync order
 ***********************************************************************/
@@ -65,9 +69,174 @@ ModuleStateEnum EndWaiting[MAX_SYSTEM_MODULES] =        {ModuleIdle,ModuleIdle,M
 bool Configured[MAX_SYSTEM_MODULES] = {false,false,false,false,false};
 
 bool SuspendLargeMessages = false;
+/*
+Parsing the job description file.
+The job description file simply contains an array of segments and their brush stops.
+The job description file is meant to be read brush stop by brush stop while the job is in progress.
+The following diagram represents a single job description file segment structure.
+The process of reading the whole file is simply repeating that reading order.
 
-/********************************************************************************************************************
- * this function is for development initial stages. it analyses the hardware configuration to determine which modules are operational
+Each JobDescriptionFileSegment contains a “BrushStopsCount” field that should be used to determine how many brush stops are associated
+with the current segment and how many times the process of reading brush stops should be repeated.
+1. 32bit integer containing the next JobFileDescriptionSegment message byte count
+2. JobDescriptionFileSegment message
+3. 32bit integer containing the next JobDescriptionFileBrushStop message byte count
+4. JobDescriptionFileBrushStop message
+
+1.  Read segment message length.
+2.  Read segment message.
+a.  Read brush stop message length.
+b.  Read brush stop message.
+c.  Go to step 2.a x Segment.BrushStopsCount.
+3.  Go to step 1 until end of file.
+*/
+
+//job file reading functions
+uint32_t bBytes = 0,readbBytes = 0,ImmediateRead = 0,SegmentSize = 0,BrushStopSize = 0;
+FRESULT Fresult = FR_OK;
+uint8_t *SegmentPtr = 0, *BrushStopPtr = 0;
+FIL *JobRequestFileHandle = 0;  //the system supports a single active file
+FRESULT OpenJobFile()
+{
+    //n_segments = 0;
+    if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+    {
+        JobRequestFileHandle = my_malloc(sizeof(FIL));
+
+        Fresult = FileOpen(CurrentJob->jobdescriptionfile, &bBytes, JobRequestFileHandle);
+        if (Fresult == FR_OK)
+        {
+            readbBytes = 0;
+        }
+        REPORT_MSG(bBytes,"OpenJobFile");
+    }
+    return Fresult;
+}
+FRESULT CloseJobFile()
+{
+    Fresult = f_close(JobRequestFileHandle);
+    readbBytes = 0;
+    ImmediateRead = 0;
+    SegmentSize = 0;
+    BrushStopSize = 0;
+    my_free (JobRequestFileHandle);
+    JobRequestFileHandle = NULL;
+    if (BrushStopPtr)
+        my_free(BrushStopPtr);
+    if (SegmentPtr)
+        my_free(SegmentPtr);
+    REPORT_MSG(Fresult,"CloseJobFile");
+
+    return Fresult;
+}
+JobDescriptionFileSegment *GetNextSegmentFromJobFile()
+{
+    uint32_t status = OK;
+    JobDescriptionFileSegment *Segment = NULL;
+    if (JobRequestFileHandle == NULL)
+    {
+        LOG_ERROR(JobRequestFileHandle,"JobRequestFileHandle == NULL");
+        return NULL;
+    }
+    if(readbBytes < bBytes)
+    {
+        Fresult = f_read(JobRequestFileHandle,&SegmentSize,4,&ImmediateRead );
+        if (Fresult == FR_OK)
+        {
+            readbBytes += ImmediateRead;
+            if (SegmentPtr)
+                my_free(SegmentPtr);
+            SegmentPtr = my_malloc (SegmentSize);
+            if (SegmentPtr)
+            {
+                Fresult = f_read(JobRequestFileHandle,SegmentPtr,SegmentSize,&ImmediateRead );
+                if (Fresult == FR_OK)
+                {
+                    readbBytes += ImmediateRead;
+                    //n_segments++;
+                    Segment = job_description_file_segment__unpack(NULL, SegmentSize, SegmentPtr);
+                }
+            }// read segment data
+            my_free(SegmentPtr);
+        }//segment malloc
+        else
+        {
+            LOG_ERROR (SegmentPtr, "malloc error");
+            status = ERROR;
+        }
+    }//segment read size
+    else
+    {
+        LOG_ERROR (Fresult, "f_read error");
+        status = ERROR;
+    }
+    return Segment;
+}
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment)
+{
+    job_description_file_segment__free_unpacked(Segment,NULL);
+    Segment = NULL;
+    if (SegmentPtr)
+        my_free(SegmentPtr);
+}
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
+{
+    uint32_t status = OK;
+    JobDescriptionFileBrushStop *BrushStop = NULL;
+    if (JobRequestFileHandle == NULL)
+    {
+        LOG_ERROR(JobRequestFileHandle,"JobRequestFileHandle == NULL");
+        return NULL;
+    }
+    Fresult = f_read(JobRequestFileHandle,&BrushStopSize,4,&ImmediateRead );
+    if (Fresult == FR_OK)
+    {
+        readbBytes += ImmediateRead;
+        if (BrushStopPtr)
+            my_free(BrushStopPtr);
+
+        BrushStopPtr = my_malloc (BrushStopSize);
+        if (BrushStopPtr)
+        {
+            Fresult = f_read(JobRequestFileHandle,BrushStopPtr,BrushStopSize,&ImmediateRead );
+            if (Fresult == FR_OK)
+            {
+                readbBytes += ImmediateRead;
+                BrushStop = job_description_file_brush_stop__unpack(NULL, BrushStopSize, BrushStopPtr);
+            }//brushstop malloc ok
+            else
+            {
+                LOG_ERROR (Fresult, "f_read error");
+                status = ERROR;
+            }
+            my_free(BrushStopPtr);
+        }//brushstop size read ok
+        else
+        {
+            LOG_ERROR (BrushStopPtr, "malloc error");
+            status = ERROR;
+        }
+    }// if brush stop count
+    else
+    {
+        LOG_ERROR (0, "f_read error brush stop size error");
+        status = ERROR;
+    }
+    REPORT_MSG(BrushStop->index,"BrushStop file Read Index");
+
+    return BrushStop;
+}
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop)
+{
+    REPORT_MSG(BrushStop->index,"Free BrushStop file Read Index");
+    if (BrushStop)
+        job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+    BrushStop = NULL;
+    if (BrushStopPtr)
+        my_free(BrushStopPtr);
+}
+/************************************************************************************************************************************/
+/* this function is for development initial stages. it analyses the hardware configuration to determine which modules are operational
  * according to the configuration map
  */
 
@@ -158,6 +327,7 @@ uint32_t PreSegmentReady(int ModuleId, ModuleStateEnum result)
     if (PreSegmentWaiting[ModuleId] != ModuleWaiting)
     {
         LOG_ERROR (ModuleId, "Message from unrelated module!!");
+        return OK;
     }
 
     PreSegmentWaiting[ModuleId] = result;
@@ -191,7 +361,7 @@ uint32_t PreSegmentReady(int ModuleId, ModuleStateEnum result)
 }
 
 //********************************************************************************************************************
-static uint32_t PreSegmentState(void *JobDetails, int SegmentId)
+static uint32_t PreSegmentState(void *SegmentDetails, int SegmentId)
 {
     SendJobProgress(0.0, SegmentId, false, "PreSegment Start");
     if (Configured[Module_Thread])
@@ -208,15 +378,15 @@ static uint32_t PreSegmentState(void *JobDetails, int SegmentId)
     }
     if (Configured[Module_Thread])
     {
-        ThreadPreSegmentState(JobDetails,SegmentId);
+        ThreadPreSegmentState(SegmentDetails,SegmentId);
     }
     if (Configured[Module_Winder])
     {
-        Winder_Presegment(JobDetails,SegmentId);  //must be after ThreadPreSegmentState
+        Winder_Presegment(SegmentDetails,SegmentId);  //must be after ThreadPreSegmentState
     }
     if (Configured[Module_IDS])
     {
-        IDSPreSegmentState(JobDetails,SegmentId);
+        IDSPreSegmentState(SegmentDetails,SegmentId);
     }
     return OK;
 }
@@ -232,11 +402,13 @@ uint32_t SegmentReady(int ModuleId, ModuleStateEnum result)
 
     assert (ModuleId<MAX_SYSTEM_MODULES);
     assert (result<=ModuleFail);
-    LOG_ERROR (ModuleId, "SegmentReady");
+    //REPORT_MSG (ModuleId, "SegmentReady");
+    Report("SegmentReady",__FILE__,__LINE__,(int)ModuleId,RpWarning,(int)result,0);
 
     if (SegmentWaiting[ModuleId] != ModuleWaiting)
     {
         LOG_ERROR (ModuleId, "Message from unrelated module!!");
+        return OK;
     }
 
     SegmentWaiting[ModuleId] = result;
@@ -271,18 +443,18 @@ uint32_t SegmentReady(int ModuleId, ModuleStateEnum result)
 }
 
 //********************************************************************************************************************
-static uint32_t SegmentState(void *JobDetails, int SegmentId)
+static uint32_t SegmentState(void *SegmentDetails, int SegmentId)
 {
     SendJobProgress(0.0, SegmentId, false, "Segment Start");
     if (Configured[Module_IDS])
     {
         //SegmentWaiting[Module_IDS] = ModuleWaiting;
-        IDSSegmentState(JobDetails,SegmentId);
+        IDSSegmentState(SegmentDetails,SegmentId);
     }
     if (Configured[Module_Thread])
     {
         SegmentWaiting[Module_Thread] = ModuleWaiting;
-        ThreadSegmentState(JobDetails,SegmentId);
+        ThreadSegmentState(SegmentDetails,SegmentId);
     }
     if (Configured[Module_Winder])
     {
@@ -307,6 +479,7 @@ uint32_t DistanceToSpoolReady(int ModuleId, ModuleStateEnum result)
     if (DistanceToSpoolWaiting[ModuleId] != ModuleWaiting)
     {
         LOG_ERROR (ModuleId, "Message from unrelated module!!");
+        return OK;
     }
 
     DistanceToSpoolWaiting[ModuleId] = result;
@@ -388,7 +561,7 @@ uint32_t EndState(void *JobDetails, char *Message)
         PreSegmentWaiting[Module_IDS] = ModuleIdle;
         DistanceToSpoolWaiting[Module_IDS] = ModuleIdle;
         //EndWaiting[Module_IDS] = ModuleWaiting;
-        IDSEndState(JobDetails);
+        IDSEndState();
     }
     if (Configured[Module_Heaters])
     {
@@ -404,8 +577,9 @@ uint32_t EndState(void *JobDetails, char *Message)
         PreSegmentWaiting[Module_Thread] = ModuleIdle;
         DistanceToSpoolWaiting[Module_Thread] = ModuleIdle;
         //EndWaiting[Module_Thread] = ModuleWaiting;
-        ThreadEndState(CurrentJob);
+        ThreadEndState();
     }
+    CloseJobFile();
     //ROM_IntMasterEnable();
     SendJobProgress(0.0,0,true,Message);
 
@@ -432,16 +606,18 @@ void StartPrinting(void)
 //********************************************************************************************************************
 //********************************************************************************************************************
 
-void StopPrinting(void)
-{
-}
 int SegmentId = 0;
+JobDescriptionFileSegment *Segment;
+JobSegment SSegment;
+
+//********************************************************************************************************************
+//********************************************************************************************************************
 void PrintSTMMsgHandler(void * msg)
 {
     JobMessageStruc *Message = msg;
     PrintMessageStruc *PrtMessage = (PrintMessageStruc *)Message->messageData;
 
-    Report("PrintSTMMsgHandler",__FILE__,__LINE__, RpMessage,0x1000,Message->messageId,PrtMessage->messageId);
+    Report("PrintSTMMsgHandler",__FILE__,__LINE__, 1000,RpMessage,Message->messageId,PrtMessage->messageId);
 
     if ((Message->messageId != PrintMessage)&&(Message->messageId != Abort))
     {
@@ -452,10 +628,28 @@ void PrintSTMMsgHandler(void * msg)
     {
         case PrintRequest:
             SegmentId = 0;
-            PreSegmentState(CurrentJob,SegmentId);
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                Segment = GetNextSegmentFromJobFile();
+                SSegment.length = Segment->length;
+                SSegment.has_length = Segment->has_length;
+                SSegment.n_brushstops = Segment->brushstopscount;
+                PreSegmentState(&SSegment,SegmentId);
+            }
+            else
+            {
+                PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            }
             break;
         case PreSegmentResultsOk:
-            SegmentState(CurrentJob,SegmentId);
+            if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+            {
+                SegmentState(&SSegment,SegmentId);
+            }
+            else
+            {
+                SegmentState(CurrentJob->segments[SegmentId],SegmentId);
+            }
             break;
         case PreSegmentResultsFail:
             EndState(CurrentJob, "PreSegment Failed");
@@ -463,8 +657,9 @@ void PrintSTMMsgHandler(void * msg)
             break;
         case SegmentResultsOk:
             SegmentId++;
-            LOG_ERROR(SegmentId, "SegmentResultsOk segmentId");
-            if (SegmentId >= CurrentJob->n_segments)
+            //REPORT_MSG(SegmentId, "SegmentResultsOk segmentId");
+            Report("SegmentResultsOk segmentId",__FILE__,__LINE__, SegmentId,RpMessage,n_segments,0);
+            if (SegmentId >= n_segments)
                 {
                   if (dryerbufferlength == 0)
                     EndState(CurrentJob, "Job Ended");
@@ -473,7 +668,21 @@ void PrintSTMMsgHandler(void * msg)
                 }
             else
             {
-                PreSegmentState(CurrentJob,SegmentId);
+                if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
+                {
+                    if (Segment)
+                        FreeSegmentFileData(Segment);
+
+                    Segment = GetNextSegmentFromJobFile();
+                    SSegment.length = Segment->length;
+                    SSegment.has_length = Segment->has_length;
+                    SSegment.n_brushstops = Segment->brushstopscount;
+                    PreSegmentState(&SSegment,SegmentId);
+                }
+                else
+                {
+                    PreSegmentState(CurrentJob->segments[SegmentId],SegmentId);
+                }
             }
             break;
         case SegmentResultsFail:
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
index 878e063b5..d7d8262f4 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.h
@@ -17,6 +17,9 @@
 #include "PMR/Printing/JobRequest.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
 #include "PMR/Printing/JobResponse.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileBrushStop.pb-c.h"
+#include "PMR/Printing/JobDescriptionFileSegment.pb-c.h"
+#include "drivers/Flash_Memory/fatfs/ff.h"
 
 #define MAX_MSG_LEN    100
 typedef enum
@@ -166,8 +169,10 @@ uint32_t    CurrentJobRequestFunc(MessageContainer* requestContainer);
 uint32_t    ResumeCurrentJobRequestFunc(MessageContainer* requestContainer);
 
 bool JobIsActive(void);
+
 extern bool SuspendLargeMessages;
 
+extern uint16_t n_segments;
 void SendJobProgress(double ProcessedLength,int SegmentId, bool done, char *Message);
 
 uint32_t PrepareReady(int ModuleId, ModuleStateEnum result);
@@ -179,4 +184,12 @@ uint32_t EndState(void *JobDetails, char *Message);
 
 bool GetHeatersPrepareWaiting(void);
 
+extern JobUploadStrategy uploadstrategy;
+FRESULT OpenJobFile();
+FRESULT CloseJobFile();
+JobDescriptionFileSegment *GetNextSegmentFromJobFile();
+void FreeSegmentFileData(JobDescriptionFileSegment *Segment);
+JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile();
+void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop);
+
 #endif /* STATEMACHINES_PRINTSTM_H_ */