From 77e72b9d16522648a350a95382309e9692434011 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Thu, 23 May 2019 14:59:16 +0300
Subject: prints

---
 Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index f1c8956ff..66c2e1659 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -305,11 +305,11 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
         //ROM_IntMasterEnable();
         //usnprintf(TempScrewStr, 100, "Winder: Horizon,Rotation, PPR, RPP{ %d, %d ,%d, %d} ",(int)screw_horizontal_speed,(int)RotationsPerSecond,(int)InternalWinderCfg.NumberOfRotationPerPassage,(int)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround);
-        //usnprintf(ScrewStr, 100, "Winder: Steps,Speed, Time, WinderSpeed{ %d, %d ,%d, %d} ",(int)ScrewNumberOfSteps,(int)ScrewSpeed,(int)temp,(int)WinderReferenceSpeed);
+        usnprintf(ScrewStr, 100, "Winder: Steps,Speed, Time, WinderSpeed{ %d, %d ,%d, %d} ",(int)ScrewNumberOfSteps,(int)ScrewSpeed,(int)temp,(int)WinderReferenceSpeed);
         //        Report(logmsg[index],__FILE__,__LINE__,index,RpWarning,index,  Counter[index]);
         //        #warning PID is now only proportional (above)
         //Report(TempScrewStr,__FILE__,__LINE__,0,RpWarning,0, 0);
-        //Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
+        Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
         //REPORT_MSG(temp , "new winder speed");
         //Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
     }
@@ -372,12 +372,12 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         temp *= ScrewNumberOfSteps;
         temp /= ScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed;
-        REPORT_MSG(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
-        REPORT_MSG(ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
+        REPORT_MSG((int)ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
+        REPORT_MSG((int)ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
 //        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
         //ScrewDirection = 1-ScrewDirection;
         REPORT_MSG(SegmentId,"Winder pre segment - SegmentId");
-        REPORT_MSG(ScrewSpeed,"Winder pre segment - ScrewSpeed");
+        REPORT_MSG((int)ScrewSpeed,"Winder pre segment - ScrewSpeed");
         //MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ScrewsStartControlTimer ();
         ScrewControlId = AddControlCallback(Screw100msecDirectionChange, eHundredMillisecond,TemplateDataReadCBFunction,0,0,0);
-- 
cgit v1.3.1


From d7d99dc7d1fa11845c5d4df3bbff16fec33b406c Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Sun, 26 May 2019 18:13:17 +0300
Subject: Version 1.4.0.2 improve winding (simplify). incorporate screw encoder
 reading. fix length/time problem between IDS and Thread.

---
 .../Embedded/Common/SWUpdate/FileSystem.c          |   3 +-
 .../Embedded_SW/Embedded/Common/SW_Info/SW_Info.c  |   2 +-
 .../Embedded/Drivers/FPGA/FPGA_SPI_Comm.c          |  15 ++-
 .../Embedded/Drivers/FPGA/FPGA_SPI_Comm.h          |   1 +
 .../Embedded_SW/Embedded/Drivers/Motors/Motor.c    |  42 ++++++--
 .../Embedded_SW/Embedded/Drivers/Motors/Motor.h    |  13 ++-
 .../Embedded_SW/Embedded/Modules/Control/PIDAlgo.c |   2 +-
 Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h |   1 +
 .../Embedded_SW/Embedded/Modules/IDS/IDS_print.c   |  41 +++++++-
 .../Embedded/Modules/Stubs_Handler/Stub_Motor.c    |   2 +-
 .../Embedded_SW/Embedded/Modules/Thread/Thread.h   |   6 +-
 .../Embedded/Modules/Thread/ThreadLoad.c           |   2 +-
 .../Embedded/Modules/Thread/Thread_Winder.c        | 116 +++++++++++++--------
 .../Embedded/Modules/Thread/Thread_ex.h            |   2 +-
 .../Embedded/Modules/Thread/Thread_init.c          |   2 +-
 .../Embedded/Modules/Thread/Thread_print.c         |  26 +++--
 .../Embedded/StateMachines/Printing/JobSTM.c       |  38 ++++---
 .../Embedded/StateMachines/Printing/PrintingSTM.c  |  30 +++++-
 18 files changed, 237 insertions(+), 107 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index 68745b390..68500ac88 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -154,7 +154,8 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
 //    memcpy (&ReceivedFileHandle,request->uploadid,sizeof(ReceivedFileHandle));
     //if (ReceivedFileHandle == FileHandle)
     //{
-     KeepAliveOneSecondCounter = 0;
+    Control_WD(ENABLE,10);  //activate heaters/dispenser watchdog, 0.5 seconds
+    KeepAliveOneSecondCounter = 0;
     Fresult = f_write(ReceivedFileHandle,request->buffer.data,request->buffer.len,&WrittenBytes );
         lFresult = Fresult;
         if(Fresult != FR_OK)
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 21c7eb041..b2590abab 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,4,0,0};
+TangoVersion_t _gTangoVersion = {1,4,0,2};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
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 26f6d5c56..5cfaddb1e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -225,6 +225,17 @@ void FPGA_GetClrMotStat_Cmd(TimerMotors_t _motorId)
 
 }
 
+void FPGA_GetFPGAMotSpeed_Cmd(TimerMotors_t _motorId)
+{
+    uint32_t temp;
+    Fpga_Spi[_motorId].TX_MOSI = x_GET_PARAM | x_SPEED;
+    Fpga_Spi[_motorId].TX_MOSI = Fpga_Spi[_motorId].TX_MOSI << 24;// move the command to the MSB TODO necessary???
+    //Fpga_Spi[_motorId].AMT_OF_Words = 1;
+    temp = Fpga_Spi[_motorId].TX_MOSI;
+
+    MillisecReadFromMotor(_motorId, temp, 4, MotorGetSpeedFromFPGA_Callback);
+}
+
 void FPGA_GetMotSpeed_Cmd(TimerMotors_t _motorId)
 {
     Fpga_Spi[_motorId].TX_MOSI = x_GET_PARAM | x_SPEED;
@@ -769,7 +780,9 @@ void FPGA_SetMotSpeedDirect(TimerMotors_t _motorId)//Run
 
     Fpga_Spi[_motorId].TX_MOSI = temp;
     Fpga_Spi[_motorId].AMT_OF_Words = 4;
-    FPGA_SPI_Transnit(_motorId);
+    //FPGA_SPI_Transnit(_motorId);
+    MotorSendFPGARequest(_motorId,temp, 4);  //returns -1 on busy or other error
+
 }
 void FPGA_SetMotMaxSpeed(TimerMotors_t _motorId)//Mov
 {
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 e2937e597..114d24a85 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
@@ -14,6 +14,7 @@ uint32_t Read_Motors_Driver_Type(TimerMotors_t i);
 void FPGA_GetClrMotStat_Cmd(TimerMotors_t _motorId);
 void FPGA_GetMotSpeed_Cmd(TimerMotors_t _motorId);
 void FPGA_Get_ADC_OUT_Cmd(TimerMotors_t _motorId);
+void FPGA_GetFPGAMotSpeed_Cmd(TimerMotors_t _motorId);
 
 void FPGA_Get_Res(TimerMotors_t _motorId);
 void FPGA_GetBusy();
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index 106e60316..202021282 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -117,9 +117,13 @@ uint32_t MotorSetDirection(TimerMotors_t _motorId,bool _direction)
     return OK;
 }
 
-uint32_t MotorSetSpeed(TimerMotors_t _motorId, uint32_t _freq)//TODO MicroSteps?
+uint32_t MotorSetSpeed(TimerMotors_t _motorId, float _freq)//TODO MicroSteps?
 {
-    int RunSpeed = SpdCalc(_freq);
+    if (_motorId == HARDWARE_MOTOR_TYPE__MOTO_SCREW)
+    {
+        LOG_ERROR ((int)_freq, "SCREW SET SPEED CALLED");
+    }
+    uint32_t RunSpeed = SpdCalc(_freq);
     #ifdef EVALUATION_BOARD
             Run_Value = RunSpeed;
             Mot_Run();
@@ -130,9 +134,9 @@ uint32_t MotorSetSpeed(TimerMotors_t _motorId, uint32_t _freq)//TODO MicroSteps?
 
     return OK;
 }
-uint32_t MotorSetSpeedDirect(TimerMotors_t _motorId, uint32_t _freq)
+uint32_t MotorSetSpeedDirect(TimerMotors_t _motorId, float _freq)
 {
-    int RunSpeed = SpdCalc(_freq);
+    uint32_t RunSpeed = SpdCalc(_freq);
     MotorDriverRequest[_motorId].Speed = RunSpeed;
     FPGA_SetMotSpeedDirect(_motorId);
 
@@ -140,7 +144,7 @@ uint32_t MotorSetSpeedDirect(TimerMotors_t _motorId, uint32_t _freq)
 }
 
 
-uint32_t MotorGetSpeed(TimerMotors_t _motorId)
+float MotorGetSpeed(TimerMotors_t _motorId)
 {
     return MotorDriverResponse[_motorId].Speed;
 }
@@ -174,6 +178,25 @@ uint32_t MotorGetPositionFromFPGA_Callback(TimerMotors_t _motorId,uint32_t Data)
     return MotorDriverResponse[_motorId].Position;
 }
 
+uint32_t MotorGetSpeedFromFPGA1(TimerMotors_t _motorId)
+{
+    #ifdef EVALUATION_BOARD
+            MotorDriverResponse[_motorId].Speed = (CurrentSpdCalc(Get_Param(x_SPEED)));
+            return (uint32_t)(MotorDriverResponse[_motorId].Speed);
+    #else
+            FPGA_GetFPGAMotSpeed_Cmd(_motorId);
+         return OK;
+    #endif
+}
+float MotorGetSpeedFromFPGA_Callback(TimerMotors_t _motorId,uint32_t Data)
+{
+    #ifndef EVALUATION_BOARD
+      //  FPGA_Get_Res(_motorId);
+        MotorDriverResponse[_motorId].Speed = CurrentSpdCalc(Data);
+    #endif
+    return MotorDriverResponse[_motorId].Speed;
+}
+
 //uint32_t MotorGetPositionFromFPGA_Res(TimerMotors_t _motorId)
 //{
 //    #ifndef EVALUATION_BOARD
@@ -190,20 +213,19 @@ uint32_t MotorGetSpeedFromFPGA(TimerMotors_t _motorId)
 //    MotorDriverResponse[_motorId].Speed = (float)(CurrentSpdCalc(MotFPGA_Spi.RX_MISO));
 //    return MotorDriverResponse[_motorId].Speed;
        #ifdef EVALUATION_BOARD
-            uint32_t temp  = (uint32_t)(CurrentSpdCalc(Get_Param(x_SPEED)));
-            MotorDriverResponse[_motorId].Speed = temp;
-            return temp;
+            MotorDriverResponse[_motorId].Speed = (CurrentSpdCalc(Get_Param(x_SPEED)));
+            return (uint32_t)(MotorDriverResponse[_motorId].Speed);
        #else
             FPGA_GetMotSpeed_Cmd(_motorId);
             return OK;
        #endif
 }
 
-uint32_t MotorGetSpeedFromFPGA_Res(TimerMotors_t _motorId)
+float MotorGetSpeedFromFPGA_Res(TimerMotors_t _motorId)
 {
     #ifndef EVALUATION_BOARD
         FPGA_Get_Res(_motorId);
-        MotorDriverResponse[_motorId].Speed = (float)(CurrentSpdCalc(Fpga_Spi[_motorId].RX_MISO));
+        MotorDriverResponse[_motorId].Speed = CurrentSpdCalc(Fpga_Spi[_motorId].RX_MISO);
     #endif
     return MotorDriverResponse[_motorId].Speed;
 }
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index 894f60c09..81cc7828b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -96,7 +96,7 @@ typedef struct
 typedef struct
 {
   bool Direction;
-  uint32_t Speed;
+  float Speed;
   uint32_t Position;
   uint32_t Status;
   uint8_t MicroSteps;
@@ -125,14 +125,14 @@ uint32_t MotorGetDirection(TimerMotors_t _motorId);
 
 uint32_t MotorSetDirection(TimerMotors_t _motorId,bool _direction);
 
-uint32_t MotorSetSpeed(TimerMotors_t _motorId, uint32_t _freq);
-uint32_t MotorSetSpeedDirect(TimerMotors_t _motorId, uint32_t _freq);  // call directly and not from millisec task
+uint32_t MotorSetSpeed(TimerMotors_t _motorId, float _freq);
+uint32_t MotorSetSpeedDirect(TimerMotors_t _motorId, float _freq);  // call directly and not from millisec task
 
 uint32_t MotorSetMaxSpeed(TimerMotors_t _motorId, uint32_t MaxSpeed);
 
 uint32_t MotorSetMicroStep(TimerMotors_t _motorId, uint32_t microstep);
 
-uint32_t MotorGetSpeed(TimerMotors_t _motorId);
+float MotorGetSpeed(TimerMotors_t _motorId);
 uint32_t MotorGetADC(TimerMotors_t _motorId);
 
 uint32_t MotorGetPosition(TimerMotors_t _motorId);
@@ -142,7 +142,10 @@ uint32_t MotorGetPositionFromFPGA_Callback(TimerMotors_t _motorId,uint32_t Data)
 //uint32_t MotorGetPositionFromFPGA_Res(TimerMotors_t _motorId);
 
 uint32_t MotorGetSpeedFromFPGA(TimerMotors_t _motorId);
-uint32_t MotorGetSpeedFromFPGA_Res(TimerMotors_t _motorId);
+float MotorGetSpeedFromFPGA_Res(TimerMotors_t _motorId);
+uint32_t MotorGetSpeedFromFPGA1(TimerMotors_t _motorId);
+float MotorGetSpeedFromFPGA_Callback(TimerMotors_t _motorId,uint32_t Data);
+
 
 uint32_t MotorGetADCFromFPGA(TimerMotors_t _motorId);
 uint32_t MotorGetADCFromFPGA_Res(TimerMotors_t _motorId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
index dd9841777..6c1b647be 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
@@ -11,7 +11,7 @@ float PIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_P
 	error = _setPoint - _mesuredParam;
 
 	//In case of error too small then stop integration
-	if(abs(error) > params->epsilon)
+	if(fabs(error) > params->epsilon)
 	{
 		*_integral = *_integral + error*params->dt;
 	}
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index a5165e7f2..4dbd2e89e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -44,6 +44,7 @@ uint32_t IDSPrepareState(void *JobDetails);
 void IDSPrepareStart(void);
 
 uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId);
+uint32_t IDSCheckSegmentData(void *SegmentDetails, int SegmentId);
 uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId);
 uint32_t IDSDistanceToSpoolState(void);
 uint32_t IDSEndState(void);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index efedfe545..1d395ec8c 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -850,6 +850,40 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
      }
      return OK;
  }
+uint32_t IDSCheckSegmentData(void *SegmentDetails, int SegmentId)
+{
+    JobDescriptionFileSegment* PrevSegment = SegmentDetails;
+    uint32_t status = OK;
+    JobDescriptionFileBrushStop * tFileBrushStop;
+    int Brush_i;
+
+//check and close previous segment
+    if (PrevSegment)
+    {
+        if (JobBrushStopId<PrevSegment->brushstopscount) //we did not finish reading the brushstops of the previous segment
+        {
+            Report("Unhandled brushstops remained",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)PrevSegment->brushstopscount,0);
+            //REPORT_MSG (Segment->brushstopscount, "Segment->brushstopscount");
+            for (Brush_i=JobBrushStopId;Brush_i<PrevSegment->brushstopscount;Brush_i++)
+            {
+                if (status == ERROR)
+                    break;
+                tFileBrushStop = GetNextBrushStopFromJobFile();
+                if (tFileBrushStop)
+                {
+                    FreeBrushStopFileData(tFileBrushStop);
+                    Report("Unhandled brushstops handled",__FILE__,__LINE__,(int)Brush_i,RpWarning,(int)PrevSegment->brushstopscount,0);
+                }
+                else
+                {
+                    status = ERROR;
+                    break;
+                }
+            }//for brushstops
+        }
+    }
+    return status;
+}
 uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
 {
     JobSegment* Segment = SegmentDetails;
@@ -864,7 +898,7 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
     /* wait for all dispensers  to get to the required pressure
      * move the presegment ready when all dispensers are ready.
      */
-    REPORT_MSG(SegmentId,"IDSPreSegmentState");
+    REPORT_MSG(Segment->n_brushstops,"IDSPreSegmentState");
     if (JobBrushStopId>=Segment->n_brushstops)
     {
         LOG_ERROR(Segment->n_brushstops,"Error JobBrushStopId");
@@ -873,7 +907,6 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
         return ERROR;
     }
 
-
     if ((EnableIntersegment == true)&&(IntersegmentLength>0))
     {
         Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Waste); //if intersegment is defined throw the ink away
@@ -1026,7 +1059,7 @@ void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
                 /*IDS_Dispenser_Start_Motor_and_Open_Valve(DispenserId,
                                                          segmentfirst_speed,
                                                          NULL);*/
-                Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
                 MotorSetSpeed(HW_Motor_Id, segmentfirst_speed);
                 CurrentDispenserSpeed[DispenserId] = segmentfirst_speed;
                 usnprintf(IdsMessage, 80,
@@ -1034,7 +1067,7 @@ void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
                           DispenserId,
                           (int) Dispensers[Dispenser_i]->nanolitterpersecond,
                           (int) Dispensers[Dispenser_i]->nanoliterperpulse,
-                          (int) segmentfirst_speed,Dispensers[Dispenser_i]->dispenserstepdivision,MotorsCfg[HW_Motor_Id].microstep);
+                          (int) (segmentfirst_speed*1000),Dispensers[Dispenser_i]->dispenserstepdivision,MotorsCfg[HW_Motor_Id].microstep);
                 //REPORT_MSG(segmentfirst_speed,IdsMessage);
                 Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
                 //SendJobProgress(0.0, 0, false, IdsMessage);
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 0854aba40..53a860970 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -449,7 +449,7 @@ void Stub_MotorSpeedRequest(MessageContainer* requestContainer)
         //deley TODO
         SysCtlDelay(10000);
         //response.speed = (double)(CurrentSpdCalc(MotorGetSpeedFromFPGA_Res(Motor_Id)));
-        response.speed = MotorGetSpeedFromFPGA_Res(Motor_Id);
+        response.speed = (double)(MotorGetSpeedFromFPGA_Res(Motor_Id));
 
     #endif
     //////////////////////////////////////////////////////////////////
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 19201c708..0093a5a2a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -56,8 +56,8 @@ extern int32_t BreakSensordebouncetimemilli;
 extern HardwarePidControl           MotorsControl[MAX_THREAD_MOTORS_NUM];
 //extern InternalWinderConfigStruc    InternalWinderCfg;
 extern HardwareDancer               DancersCfg[MAX_SYSTEM_DANCERS];
-extern uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM];
-extern int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM];
+extern double CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM];
+extern double OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM];
 
 #define MAX_CONTROL_SAMPLES 10
 extern int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
@@ -65,7 +65,7 @@ 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 double MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
 extern int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM];
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index ab5075ab9..66d6baed5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -594,7 +594,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError);
     }*/
     calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-    if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
+    if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
     {
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 66c2e1659..9ebc32f57 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -43,10 +43,11 @@ uint32_t ScrewDirectionChangeCounter = 1; //holds the current number of runs of
 //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];
+double WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION];
 uint16_t WinderMotorSpeedCounter = 0;
 bool     WinderMotorSpeedRollOver = false;
-double   ScrewSpeed = 0;
+#define DEFAULT_SCREW_SPEED 1400
+double   ScrewSpeed = DEFAULT_SCREW_SPEED;
 double   ScrewRunningTime = 0;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
 bool     SCREW_TimerActivated = false;
@@ -96,7 +97,7 @@ uint32_t Winder_Prepare(void)
     uint32_t status = 0;
     //JobTicket* JobTicket = JobDetails;
     //float process_speed = JobTicket->processparameters->dyeingspeed;
-    double ScrewSpeed = 1500;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius);  // we will use pulley radius of the screw for this purpose, as of now
+    double ScrewSpeed = DEFAULT_SCREW_SPEED;//(process_speed*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius);  // we will use pulley radius of the screw for this purpose, as of now
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(ScrewSpeed, "Winder_Prepare");
     /*
@@ -143,9 +144,9 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
 
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,InternalWinderCfg.segmentoffsetpulses);
     //REPORT_MSG(numOfSteps, "Winder_PrepareStage2");
-    //Read_Screw_Encoder();
-    //ScrewLocationLimitSwitch = Screw_RotEnc.Position;
-    //REPORT_MSG(ScrewLocationLimitSwitch, "Winder_PrepareStage2 Encoder Location");
+    Read_Screw_Encoder();
+    ScrewLocationLimitSwitch = Screw_RotEnc.Position;
+    REPORT_MSG(ScrewLocationLimitSwitch, "Winder_PrepareStage2 Encoder Location");
 
 
     REPORT_MSG(millisecondCounter/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency*/, "Winder_PrepareStage2");
@@ -169,8 +170,13 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     //SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_SCREW);  //set this point as the spool home
     //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,temp_MaxFrequency);
 
-    //Read_Screw_Encoder();
-    //ScrewLocationStart = Screw_RotEnc.Position;
+    MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Soft_Hiz); //per L6470 errata between mov and run commands
+    Task_sleep(5);
+    Reset_Screw_Encoder();
+    Task_sleep(5);
+    Read_Screw_Encoder();
+    Task_sleep(5);
+    ScrewLocationStart = Screw_RotEnc.Position;
 
     REPORT_MSG(ScrewLocationStart, "Winder_ScrewAtOffsetCallback Encoder Location");
 
@@ -180,7 +186,6 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     ScrewControlId = 0xFF;
     ScrewNumberOfSteps = 0;
     REPORT_MSG(millisecondCounter, "Winder_ScrewAtOffsetCallback");
-    MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Soft_Hiz); //per L6470 errata between mov and run commands
     PrepareReady(Module_Winder, ModuleDone);
     return OK;
 }
@@ -212,26 +217,28 @@ InternalWinderCfg.segmentoffsetpulses
   
 numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 */
-char ScrewStr[100];
+char ScrewStr[150];
 //char TempScrewStr[100];
 double WinderReferenceSpeed=0;
-int32_t  TotalWinderSpeed=0;
+double  TotalWinderSpeed=0;
 bool Add100 = false;
 double Rotations = 6.0;
+bool flipflop = false;
+uint32_t motspeed;
+float speedf;
+int WinderCalculation = 0;
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     //uint32_t Steps;
     double temp,tempScrewSpeed;
     double screw_horizontal_speed = 0;
     double RotationsPerSecond;
-    int32_t Averagewinderspeed = 0;
+    double Averagewinderspeed = 0;
 
-    //ScrewChangeCounter++;
-    //if ((ScrewChangeCounter>3)&&(ScrewChangeCounter<(ScrewChangeLimit-2))) //do not take the winder speed near the limits
-    {
-        TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
-        WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
-        TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
+//    {
+//        TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
+//        WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
+//        TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
         if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
         {
             if (WinderMotorSpeedRollOver == false)
@@ -239,20 +246,34 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
                 Add100 = true;
                 LOG_ERROR(Add100, "Add100 = true");
             }
-            WinderMotorSpeedCounter=0;
+//            WinderMotorSpeedCounter=0;
             WinderMotorSpeedRollOver=true;
         }
+//    }
+    if (flipflop)
+    {
+        speedf = MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
     }
+    else
+    {
+        MotorGetSpeedFromFPGA1(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+    }
+    flipflop = 1-flipflop;
 
     if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter)
         return OK;
+    //deley TODO
+
 
     ScrewCurrentDirection = 1-ScrewCurrentDirection;
     CalculationDirectionChangeCounter++;
-    //REPORT_MSG(ScrewLocationRun[1] - ScrewLocationRun[0], "Screw Run NumberOfSteps");
-    //usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]));
+    //double calcsteps = (ScrewRunningTime/SYS_CLK_FREQ)*ScrewSpeed;
+    //REPORT_MSG((abs(ScrewLocationRun[1] - ScrewLocationRun[0]), "Screw Run NumberOfSteps");
+//    usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d intent %d rot %d",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,Rotations*10);
+    usnprintf(ScrewStr, 150, "Winder Encoder:id, diff, intended,  winderspeed,  rotation, speed, time, mot speed {, %d, %d, %d, %d, %d, %d, %d, %d, }",CalculationDirectionChangeCounter,
+              abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,(int)(WinderReferenceSpeed),(int)(Rotations*10),(int)ScrewSpeed,(int)ScrewRunningTime,(int)speedf);
     //usnprintf(ScrewStr, 100, "Winder Encoder: 0 %d 1 %d diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],ScrewLocationRun[1] - ScrewLocationRun[0]);
-    //Report(ScrewStr,__FILE__,__LINE__,ScrewLocationLimitSwitch,RpWarning,ScrewLocationStart, 0);
+    Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
 
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
@@ -265,8 +286,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0)
         {
             ScrewNumberOfSteps--;
-            REPORT_MSG(ScrewNumberOfSteps, "Head Backing ScrewNumberOfSteps");
-
+            Report("Head Backing",__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewNumberOfSteps, 0);
         }
     }
     else //next time going back
@@ -274,34 +294,38 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.SpoolBottomBackingRate == 0)
         {
             ScrewNumberOfSteps++;
-            REPORT_MSG(ScrewNumberOfSteps, "Bottom Backing ScrewNumberOfSteps");
+            Report("Bottom Backing ",__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewNumberOfSteps, 0);
         }
     }
-    if (WinderMotorSpeedRollOver)
+   /* if (WinderMotorSpeedRollOver)
     {
-        /*for (i=0;i<MAX_WINDER_SPEED_CALCULATION;i++)
+        if (WinderCalculation%60000 == 0)//100 minutes
         {
-            TotalWinderSpeed+=WinderMotorSpeed[i];
-        }*/
-        Averagewinderspeed = TotalWinderSpeed/MAX_WINDER_SPEED_CALCULATION;
-        //REPORT_MSG(winderspeed, "WinderSpeedUpdated");
-        //Report("WinderSpeedUpdated",__FILE__,__LINE__,TotalWinderSpeed,RpWarning,Averagewinderspeed,0);
-
-        WinderReferenceSpeed = Averagewinderspeed;
-    }
+            Averagewinderspeed = TotalWinderSpeed/MAX_WINDER_SPEED_CALCULATION;
+            //Report("WinderSpeedUpdated",__FILE__,__LINE__,(int)TotalWinderSpeed,RpWarning,(int)Averagewinderspeed,0);
+            WinderReferenceSpeed = Averagewinderspeed;
+        }
+        WinderCalculation++;
+    }*/
+    //WinderReferenceSpeed = 1000;
+    //ScrewNumberOfSteps = 1000;
     screw_horizontal_speed = ScrewNumberOfSteps /  Rotations;//InternalWinderCfg.NumberOfRotationPerPassage;
-    if (Rotations > 6.6)//7.0)
-        Rotations = 6.0;
+  //  if (Rotations > 6.6)//7.0)
+  //      Rotations = 6.0;
     RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
     tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
     //ROM_IntMasterDisable();
+    tempScrewSpeed = DEFAULT_SCREW_SPEED;
+
     CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
+
     temp = SYS_CLK_FREQ;
     temp *= ScrewNumberOfSteps;
     temp /= tempScrewSpeed;
     if ((ScrewRunningTime != temp)||(ScrewSpeed != tempScrewSpeed))
     {
         ScrewSpeed = tempScrewSpeed;
+        ScrewSpeed = DEFAULT_SCREW_SPEED;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
         //ROM_IntMasterEnable();
         //usnprintf(TempScrewStr, 100, "Winder: Horizon,Rotation, PPR, RPP{ %d, %d ,%d, %d} ",(int)screw_horizontal_speed,(int)RotationsPerSecond,(int)InternalWinderCfg.NumberOfRotationPerPassage,(int)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround);
@@ -353,6 +377,7 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         RotationsPerSecond =  OriginalMotorSpd_2PPS[WINDER_MOTOR] / MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
         // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
         ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+        ScrewSpeed = DEFAULT_SCREW_SPEED;
 
         //MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         usnprintf(ScrewStr, 100, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond,(int)screw_horizontal_speed,(int)ScrewSpeed);
@@ -372,12 +397,12 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         temp *= ScrewNumberOfSteps;
         temp /= ScrewSpeed;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*InternalWinderCfg.segmentoffsetpulses)/ScrewSpeed;
-        REPORT_MSG((int)ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
-        REPORT_MSG((int)ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
+        REPORT_MSG(ScrewNumberOfSteps,"Winder pre segment - ScrewNumberOfSteps");
+        REPORT_MSG(ScrewRunningTime,"Winder pre segment - ScrewRunningTime");
 //        MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
         //ScrewDirection = 1-ScrewDirection;
         REPORT_MSG(SegmentId,"Winder pre segment - SegmentId");
-        REPORT_MSG((int)ScrewSpeed,"Winder pre segment - ScrewSpeed");
+        REPORT_MSG(ScrewSpeed,"Winder pre segment - ScrewSpeed");
         //MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
         ScrewsStartControlTimer ();
         ScrewControlId = AddControlCallback(Screw100msecDirectionChange, eHundredMillisecond,TemplateDataReadCBFunction,0,0,0);
@@ -458,20 +483,20 @@ void ScrewsStartControlTimer (void)
     return;
 }
 
-int random = 0;
+
 void ScrewTimerInterrupt(int ARG0)
 {
     ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     ROM_IntMasterDisable();
 
-    //Read_Screw_Encoder();
-    //ScrewLocationRun[ScrewCurrentDirection] = Screw_RotEnc.Position;
 
     if (SCREW_TimerActivated == true)
     {
+        Read_Screw_Encoder();
         ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
         MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
-        MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed+random);
+        MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
+        ScrewLocationRun[ScrewCurrentDirection] = Screw_RotEnc.Position;
       //  ScrewChangeCounter = 0;
       //  ScrewChangeLimit = ScrewRunningTime/12000000;
         ScrewDirectionChangeCounter++;
@@ -481,7 +506,8 @@ void ScrewTimerInterrupt(int ARG0)
         TimerDisable(Screw_timerBase, TIMER_A);
     }
     ROM_IntMasterEnable();
-    Rotations+=0.03;
+    //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
+    //Rotations+=0.03;
 
     return ;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 91eedeb6b..ead318758 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -28,7 +28,7 @@ void ThreadSetBreakSensorLimit(int limit);
 uint32_t InternalWindingConfigMessage(JobSpool* request);
 uint32_t ThreadConfigBreakSensor(void *request);
 
-uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId);
+double ThreadGetMotorSpeed(threadMotorsEnum MotorId);
 double ThreadGetMotorCalculatedError(int DancerId);
 uint32_t ThreadPrepareState(void *JobDetails);
 uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 265c751c6..0acb587b2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -22,7 +22,7 @@
 MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS]={0};
 HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};
 
-int32_t MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
+double 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};
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 25485290b..a285d4194 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -39,7 +39,7 @@
 //by recieved esign flow of the user from the UI
 ///////////////////////////////////////////////////////////////////////////////////////////
 
-uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0};
+double CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0};
 
 TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
 HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
@@ -48,7 +48,7 @@ uint32_t    SpeedControlId=0xFF;
 uint32_t    PoolerSpeedControlId=0xFF;
 
 double DancerError[NUM_OF_DANCERS] = {0.0};
-int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0};
+double OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0};
 uint32_t JobCounter = 0;
 
 MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM];
@@ -186,6 +186,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             usnprintf(Lenstr, 100, "length huge: length %d, diff 0x%x, pos 0x%x prev 0x%x",(int)length*100,(int)positionDiff,PreviousPosition,prevprev);
             SendJobProgress(0.0,0,false, Lenstr);
             Report(Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0);
+            length = 0;
 
         }
 
@@ -275,7 +276,7 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     int index=MAX_THREAD_MOTORS_NUM;
     int32_t i, avreageSampleValue = 0;
     //double tempcalcspeed = 0;
-    uint32_t calculated_speed;
+    double calculated_speed;
     float speed = getSensorSpeedData();
     if (IfIndex>>8 != IfTypeThread)
     {
@@ -297,7 +298,7 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                                                                               &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
         //SetMotorFreq (index, MotorControlConfig[index].m_calculatedError);
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-        if (abs(calculated_speed-CurrentControlledSpeed[index])>2)
+        if (fabs(calculated_speed-CurrentControlledSpeed[index])>2)
         {
             CurrentControlledSpeed[index] = calculated_speed;
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
@@ -305,7 +306,7 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
  return OK;
 }
-uint32_t _speed;
+float _speed;
 uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     int index;
@@ -393,7 +394,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     int DancerId;
     int32_t TranslatedReadValue, avreageSampleValue = 0,avreageMotorSampleValue = 0;
     //double tempcalcspeed = 0;
-    uint32_t calculated_speed;
+    double calculated_speed;
     double NormalizedError;
 
     if (ThreadControlActive == false)
@@ -551,17 +552,17 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
         //calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*CurrentControlledSpeed[index];
 #ifndef TEST_PID_THREAD
-        if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
+        if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
 #else
         if (index == FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
 #endif
         {
             CurrentControlledSpeed[index] = calculated_speed;
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
-            if (((JobCounter % 2000) == index*100)&&(index == WINDER_MOTOR)) //feeder unit handles errors opposite to left unit
+            /*if (((JobCounter % 2000) == index*100)&&(index == WINDER_MOTOR)) //feeder unit handles errors opposite to left unit
             {
-                Report("MotorSpeedUpdated",__FILE__,index,OriginalMotorSpd_2PPS[index],RpWarning,CurrentControlledSpeed[index],0);
-            }
+                Report("MotorSpeedUpdated",__FILE__,index,(int)OriginalMotorSpd_2PPS[index],RpWarning,(int)CurrentControlledSpeed[index],0);
+            }*/
 #ifdef TEST_PID_THREAD
             int len;
             if ((JobCounter % 2000) == index*100)
@@ -587,7 +588,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 #endif
         }
 		else
+		{
            MotorFailedSample[index]++;
+           //LOG_ERROR(index,"No change in speed");
+		}
 
     }
 
@@ -595,7 +599,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 
 //********************************************************************************************************************
-uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId)
+double ThreadGetMotorSpeed(threadMotorsEnum MotorId)
 {
     return  CurrentControlledSpeed[MotorId];
 }
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 7269354f9..7ad887925 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -782,23 +782,6 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
             {
                 responseContainer.has_error = true;
                 responseContainer.error = JobError_to_ErrorCode[JobEndReason];
-                switch (JobEndReason)
-                {
-                    case JOB_THREAD_BREAK:
-                        AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
-                        break;
-                    case JOB_POOLER_DANCER_FAIL:
-                        AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,true);
-                        break;
-                    case JOB_FEEDER_DANCER_FAIL:
-                        AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,true);
-                        break;
-                    case JOB_WINDER_DANCER_FAIL:
-                        AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,true);
-                        break;
-                    default:
-                        break;
-                }
             }
             if (JobAbortedByUser == true)
             {
@@ -827,6 +810,26 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
             CurrentRequest = NULL;
         }
         JobStopReporting();
+        if(JobEndReason != JOB_OK)
+        {
+            switch (JobEndReason)
+            {
+                case JOB_THREAD_BREAK:
+                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
+                    break;
+                case JOB_POOLER_DANCER_FAIL:
+                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,true);
+                    break;
+                case JOB_FEEDER_DANCER_FAIL:
+                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,true);
+                    break;
+                case JOB_WINDER_DANCER_FAIL:
+                    AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_WINDER_DANCER,true);
+                    break;
+                default:
+                    break;
+            }
+        }
         JobMessageStruc JobMessage;
 
         JobMessage.messageId = PrintingResultsOk;
@@ -841,6 +844,7 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
 }
 void JobStopReporting(void)
 {
+    LOG_ERROR(0,"JobStopReporting");
     JobToken[0] = 0;
 }
 
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 46241c3a0..2aa260e9f 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -665,7 +665,7 @@ void PrintSTMMsgHandler(void * msg)
             if (SegmentId >= n_segments)
                 {
                   if (dryerbufferlength == 0)
-                    EndState(CurrentJob, "Job Ended");
+                      EndState(CurrentJob, "Job Ended");
                   else
                       DistanceToSpoolState(CurrentJob);
                 }
@@ -673,12 +673,34 @@ void PrintSTMMsgHandler(void * msg)
             {
                 if (CurrentJob->uploadstrategy == JOB_UPLOAD_STRATEGY__JobDescriptionFile)
                 {
-                    if (Segment->base.descriptor->sizeof_message != 40)
-                        LOG_ERROR (Segment->base.descriptor->sizeof_message, "Segment size error. not freeing");
+                    if ((Segment) && (Segment->base.descriptor->sizeof_message != 40))
+                        LOG_ERROR(SegmentId, "Error releasing Segment");
                     else if (Segment)
-                        FreeSegmentFileData(Segment);
+                    {
+                        if (IDSCheckSegmentData(Segment, SegmentId) == OK)
+                        {
+                            FreeSegmentFileData(Segment);
+                        }
+                        else
+                        {
+                          JobEndReason = JOB_OTHER_ALARM;
+                          if (dryerbufferlength == 0)
+                              EndState(CurrentJob, "Job Ended");
+                          else
+                              DistanceToSpoolState(CurrentJob);
+                        }
+
+                    }
 
                     Segment = GetNextSegmentFromJobFile();
+					if (Segment == NULL)
+					{
+					  JobEndReason = JOB_OTHER_ALARM;
+	                  if (dryerbufferlength == 0)
+	                      EndState(CurrentJob, "Job Ended");
+	                  else
+	                      DistanceToSpoolState(CurrentJob);
+					}
                     SSegment.length = Segment->length;
                     SSegment.has_length = Segment->has_length;
                     SSegment.n_brushstops = Segment->brushstopscount;
-- 
cgit v1.3.1


From aacf8b3ae866d99d78870899c9b80184a66e0167 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Tue, 28 May 2019 17:05:30 +0300
Subject: Version 1.4.0.3 fix priming on empty dispenser. other small bugs

---
 .../Embedded/Common/SWUpdate/FileSystem.c          |  1 +
 .../Embedded_SW/Embedded/Common/SW_Info/SW_Info.c  |  2 +-
 .../Embedded/Drivers/Motors/MotorActions.c         |  2 +-
 .../Embedded/Modules/AlarmHandling/AlarmHandling.c | 28 ++++++++-------
 .../Embedded/Modules/Diagnostics/Diagnostics.c     |  1 +
 .../Embedded/Modules/General/GeneralHardware.c     |  2 ++
 .../Embedded_SW/Embedded/Modules/IDS/IDS_maint.c   | 41 +++++++++++++++++++++-
 .../Embedded_SW/Embedded/Modules/IDS/IDS_print.c   |  1 +
 .../Embedded/Modules/Thread/Thread_Winder.c        | 14 ++++----
 .../Embedded/Software Release Notes.txt            | 11 ++++++
 .../Embedded/StateMachines/Printing/JobSTM.c       |  7 ++--
 11 files changed, 85 insertions(+), 25 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index 68500ac88..6c0262f66 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -35,6 +35,7 @@
 #include "third_party/fatfs/src/diskio.h"
 #include "drivers/Flash_Memory/Flash_Memory.h"
 #include "drivers/Flash_Memory/fatfs/ff.h"
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
 #include "third_party/fatfs/src/ffconf.h"
 
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 b2590abab..bee894585 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,4,0,2};
+TangoVersion_t _gTangoVersion = {1,4,0,3};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index bf96335e1..3177dc787 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -469,7 +469,7 @@ uint32_t MotorMovetoLimitSwitch (TimerMotors_t MotorId,bool direction, uint32_t
     MotorTimeLag[MotorId] = eTenMillisecond;
     MotorTimeLimit[MotorId] = timeout;
 
-    if ((MotorId == HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD)||(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH))
+    if ((MotorId == HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD)||(HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH)||(HARDWARE_MOTOR_TYPE__MOTO_SCREW))
         MotorTimeLag[MotorId] = 2;
 
     MotorSetDirection( MotorId, direction);
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 931b6674f..73532a7d2 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -669,6 +669,8 @@ uint32_t AlarmHandling_ControlTrigger(uint32_t IfIndex, uint32_t ReadValue)
 
     return OK;
 }
+void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value);
+
 void AlarmHandlingSetAlarm(uint32_t AlarmId, bool value)
 {
     AlarmHandlingInternalSetAlarm( AlarmId, value);
@@ -1024,12 +1026,12 @@ void AlarmHandlingTask(UArg arg0, UArg arg1)
     }
 }
 //StartEventsNotificationResponse StartEventsNotification = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
-StartEventsNotificationResponse response = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
+StartEventsNotificationResponse EventsResponse = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
 int LargeMessagesAH = 0;
 void SendEventNotifications(void)
 {
     MessageContainer responseContainer;
-    //StartEventsNotificationResponse response = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
+    //StartEventsNotificationResponse EventsResponse = START_EVENTS_NOTIFICATION_RESPONSE__INIT;
     int i,e=0;
 
     if (AlarmHandlingActive == false)
@@ -1042,20 +1044,20 @@ void SendEventNotifications(void)
         return;
     }
 
-    response.n_events = 0;
+    EventsResponse.n_events = 0;
     UInt Key = Task_disable();
     for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
     {
         if (AlarmState[i].Status == true)
         {
-            response.n_events++;
+            EventsResponse.n_events++;
         }
     }
 
-    if (response.n_events)
+    if (EventsResponse.n_events)
     {
-        response.events = (Event **)my_malloc(sizeof(Event*)*response.n_events);
-        if(response.events)
+        EventsResponse.events = (Event **)my_malloc(sizeof(Event*)*EventsResponse.n_events);
+        if(EventsResponse.events)
         {
             for (i = 0;i<MAX_SYSTEM_ALARMS;i++)
             {
@@ -1063,7 +1065,7 @@ void SendEventNotifications(void)
                 {
                     if (AlarmState[i].EventPtr)
                     {
-                        response.events[e]=AlarmState[i].EventPtr;
+                        EventsResponse.events[e]=AlarmState[i].EventPtr;
                         e++;
                     }
                 }
@@ -1071,17 +1073,17 @@ void SendEventNotifications(void)
         }
         else
         {
-            LOG_ERROR(response.n_events,"events malloc error");
+            LOG_ERROR(EventsResponse.n_events,"events malloc error");
             Task_restore(Key);
             return;
         }
     }
     else
     {
-        response.events = NULL;
+        EventsResponse.events = NULL;
     }
     Task_restore(Key);
-    responseContainer = createAllocatedContainer(MESSAGE_TYPE__StartEventsNotificationResponse,  AlarmHandlingToken, false, &response, &start_events_notification_response__pack, &start_events_notification_response__get_packed_size,&alarm_response_buffer);
+    responseContainer = createAllocatedContainer(MESSAGE_TYPE__StartEventsNotificationResponse,  AlarmHandlingToken, false, &EventsResponse, &start_events_notification_response__pack, &start_events_notification_response__get_packed_size,&alarm_response_buffer);
     responseContainer.continuous = true;
 
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
@@ -1096,8 +1098,8 @@ void SendEventNotifications(void)
             my_free(container_buffer);
         }
     }
-    if (response.events)
-        my_free(response.events);
+    if (EventsResponse.events)
+        my_free(EventsResponse.events);
     if (responseContainer.data.data)
         my_free(responseContainer.data.data);
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 184aa52be..b89fa43ed 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -22,6 +22,7 @@
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
 #include "drivers/I2C_Communication/DAC/Blower.h"
+#include "drivers/valves/valve.h"
 
 #include "modules/ids/ids_ex.h"
 #include "Modules/Control/MillisecTask.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 6fc728934..9c7e84bc2 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -416,6 +416,8 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
 
     status = HWConfiguration(UploadRequest);
 
+    GeneralHwReady = true;
+
     responseContainer = createContainer(MESSAGE_TYPE__UploadHardwareConfigurationResponse, requestContainer->token, true, &response, &upload_hardware_configuration_response__pack, &upload_hardware_configuration_response__get_packed_size);
     if (status!= OK)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index d312dcb78..0907c4a67 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -205,6 +205,10 @@ uint32_t IDS_StopHomeDispenser (uint32_t DispenserId)
     Disable_MidTank_Pressure_Reading(DispenserId);
     Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
     Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+    if (DispenserId == LUBRICANT_DISPENSER)
+    {
+        Lubricant_2Way_Valve (START);
+    }
 
     MotorSetMicroStep(MotorId, MotorsCfg[MotorId].microstep);
     CurrentDispenserSpeed[DispenserId] = 0;
@@ -227,6 +231,36 @@ uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id)
     else
         return FPGA_Read_limit_Switches(Dispenser_Id_to_Alarm_LS_Id[LS_Id]);
 }
+uint32_t IDS_EmptyDispenserCallback(uint32_t motorId, uint32_t ReadValue)
+{
+    uint8_t DispenserId = motorId-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+
+    Read_MidTank_Pressure_Sensor(DispenserId);
+    //close dry air valve in the dispenser
+    Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
+    Disable_MidTank_Pressure_Reading(DispenserId);
+
+    MotorStop(motorId,Hard_Hiz);
+    CurrentDispenserSpeed[DispenserId] = 0;
+    MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
+    HomingActive[DispenserId]= false;
+    if (DispenserId == LUBRICANT_DISPENSER)
+    {
+        Lubricant_2Way_Valve (STOP);
+    }
+
+    Report("End Priming",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
+    //MotorSetMicroStep(motorId, MotorsCfg[motorId].microstep);
+    if (HomingRequestCallback[DispenserId])
+    {
+        HomingRequestCallback[DispenserId](DispenserId,0);
+        HomingRequestCallback[DispenserId] = NULL;
+    }
+
+
+return OK;
+
+}
 
 uint32_t IDS_EmptyDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr callback)
 {
@@ -254,8 +288,13 @@ uint32_t IDS_EmptyDispenser (uint32_t DispenserId, uint32_t speed , callback_fpt
         IDS_Dispenser_RefillStarted(DispenserId);
         IDS_Dispenser_MovingDirection(DispenserId,UP);
 
+        if (DispenserId == LUBRICANT_DISPENSER)
+        {
+            Lubricant_2Way_Valve (START);
+        }
+
 
-        MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Empty_Id[DispenserId], IDS_HomeDispenserCallback,0);
+        MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Empty_Id[DispenserId], IDS_EmptyDispenserCallback,0);
         CurrentDispenserSpeed[DispenserId] = speed;
         return OK;
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 1d395ec8c..aea16bb60 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -7,6 +7,7 @@
 #include "ids.h"
 #include "ids_ex.h"
 #include "../control/control.h"
+#include "../control/MillisecTask.h"
 #include "../general/process.h"
 #include "../control/pidalgo.h"
 #include "../thread/thread.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 9ebc32f57..a68995168 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -223,7 +223,7 @@ double WinderReferenceSpeed=0;
 double  TotalWinderSpeed=0;
 bool Add100 = false;
 double Rotations = 6.0;
-bool flipflop = false;
+int flipflop = 0;
 uint32_t motspeed;
 float speedf;
 int WinderCalculation = 0;
@@ -250,20 +250,20 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
             WinderMotorSpeedRollOver=true;
         }
 //    }
-    if (flipflop)
+    if (flipflop == 0)
     {
-        speedf = MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+        MotorGetSpeedFromFPGA1(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
     }
-    else
+    else if (flipflop == 1)
     {
-        MotorGetSpeedFromFPGA1(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+        speedf = MotorGetSpeedFromFPGA_Res(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
     }
-    flipflop = 1-flipflop;
+    flipflop ++;
 
     if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter)
         return OK;
     //deley TODO
-
+    flipflop = 0;
 
     ScrewCurrentDirection = 1-ScrewCurrentDirection;
     CalculationDirectionChangeCounter++;
diff --git a/Software/Embedded_SW/Embedded/Software Release Notes.txt b/Software/Embedded_SW/Embedded/Software Release Notes.txt
index a6a82ae6d..32d5e73b2 100644
--- a/Software/Embedded_SW/Embedded/Software Release Notes.txt	
+++ b/Software/Embedded_SW/Embedded/Software Release Notes.txt	
@@ -1,3 +1,14 @@
+Embedded SW Release note - Version 1.3.10.6 - Itma Candidate 5
+=============================================================
+change winding - fixed speed
+
+Embedded SW Release note - Version 1.3.10.5 - Itma Candidate 4
+=============================================================
+bug fixes and work around: segment free, usb log, job length, length measurements, heating
+better support for new and older dispensers
+waste indication - empty and full
+
+
 Embedded SW Release note - Version 1.3.10.2 - Itma Candidate 3
 =============================================================
 Machine: 
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 7ad887925..f5ae89368 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -743,6 +743,7 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
         Report(infomsg,__FILE__,__LINE__,55,RpWarning,33,  44);
     }*/
     UInt Key = Task_disable();
+    double totlength = 0;
 
     if (JobToken[0] != 0)
     {
@@ -753,12 +754,14 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
         }
         //previousJobLength =  ProcessedLength;
         jobStatus.has_progress = true;
+        totlength = TotalProcessedLength;
         if (TotalProcessedLength > job_length)
         {
             Report("job length bigger than assigned",__FILE__,__LINE__,TotalProcessedLength,RpWarning,job_length,  done);
-                    TotalProcessedLength = job_length;
+            //TotalProcessedLength = job_length;
+            totlength = job_length;
         }
-        jobStatus.progress = TotalProcessedLength;
+        jobStatus.progress = totlength;
         jobStatus.has_currentsegmentindex = true;
         jobStatus.currentsegmentindex = SegmentId;
 
-- 
cgit v1.3.1


From a12577b0c2a81435ce8a9ca72cc21411c15321eb Mon Sep 17 00:00:00 2001
From: Avi Levkovich <avi@twine-s.com>
Date: Thu, 30 May 2019 15:03:01 +0300
Subject: change the motors drivers ditection logic

---
 .../Embedded_SW/Embedded/.config/.productview.dat  | Bin 0 -> 24477 bytes
 .../Embedded/.config/xconfig_Embedded/.buildtime   |   1 +
 .../Embedded/.config/xconfig_Embedded/.interfaces  |   0
 .../Embedded/.config/xconfig_Embedded/.xdcenv.mak  |  16 ++
 .../.config/xconfig_Embedded/compiler.opt.defs     |   1 +
 .../Embedded/.config/xconfig_Embedded/config.bld   |  24 ++
 .../Embedded/.config/xconfig_Embedded/custom.mak   |  11 +
 .../Embedded/.config/xconfig_Embedded/package.bld  |  78 ++++++
 .../Embedded/.config/xconfig_Embedded/package.mak  | 256 ++++++++++++++++++++
 .../Embedded/.config/xconfig_Embedded/package.xdc  |   7 +
 .../Embedded/.config/xconfig_Embedded/package.xs   |  20 ++
 .../.config/xconfig_Embedded/package/.vers_b160    |   0
 .../.config/xconfig_Embedded/package/.vers_g180    |   0
 .../.config/xconfig_Embedded/package/.vers_r170    |   0
 .../.config/xconfig_Embedded/package/.xdc-B06      |   0
 .../.config/xconfig_Embedded/package/build.cfg     |   9 +
 .../package/cfg/Embedded.xem4f.mak                 |  11 +
 .../package/cfg/Embedded_pem4f.cfg                 | 268 +++++++++++++++++++++
 .../package/cfg/Embedded_pem4f.mak                 |  46 ++++
 .../xconfig_Embedded/package/package.bld.xml       |  84 +++++++
 .../xconfig_Embedded/package/package.defs.h        |  13 +
 .../xconfig_Embedded/package/package.xdc.dep       |  53 ++++
 .../xconfig_Embedded/package/package.xdc.inc       |  12 +
 .../package/package_xconfig_Embedded.c             |  21 ++
 .../package/rel/xconfig_Embedded.xdc.inc           |   3 +
 .../package/rel/xconfig_Embedded.xdc.ninc          |   0
 .../xconfig_Embedded/package/xconfig_Embedded.ccs  | Bin 0 -> 1245 bytes
 .../package/xconfig_Embedded.class                 | Bin 0 -> 6801 bytes
 .../xconfig_Embedded/package/xconfig_Embedded.java | 143 +++++++++++
 .../xconfig_Embedded/package/xconfig_Embedded.sch  |   0
 Software/Embedded_SW/Embedded/DataDef.h            |  19 +-
 .../Embedded/Drivers/FPGA/FPGA_SPI_Comm.c          |  76 +++++-
 .../Drivers/I2C_Communication/DAC/Blower.c         |  76 ++++++
 .../Embedded_SW/Embedded/Drivers/Motors/Motor.c    |  21 ++
 .../Embedded_SW/Embedded/Drivers/Motors/Motor.h    |   6 +-
 .../Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c    |   7 +
 .../Embedded/Modules/Control/MillisecTask.c        |   5 +
 .../Embedded/Modules/Thread/Thread_init.c          |   2 +-
 38 files changed, 1273 insertions(+), 16 deletions(-)
 create mode 100644 Software/Embedded_SW/Embedded/.config/.productview.dat
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.buildtime
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.interfaces
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.xdcenv.mak
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/compiler.opt.defs
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/config.bld
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/custom.mak
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.bld
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.mak
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.xdc
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.xs
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_b160
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_g180
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_r170
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.xdc-B06
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/build.cfg
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded.xem4f.mak
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.cfg
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.mak
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.bld.xml
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.defs.h
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.xdc.dep
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.xdc.inc
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package_xconfig_Embedded.c
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/rel/xconfig_Embedded.xdc.inc
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/rel/xconfig_Embedded.xdc.ninc
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.ccs
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.class
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.java
 create mode 100644 Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.sch

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/.config/.productview.dat b/Software/Embedded_SW/Embedded/.config/.productview.dat
new file mode 100644
index 000000000..01bba8454
Binary files /dev/null and b/Software/Embedded_SW/Embedded/.config/.productview.dat differ
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.buildtime b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.buildtime
new file mode 100644
index 000000000..7f6d56957
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.buildtime
@@ -0,0 +1 @@
+C:\Tango\Software\Embedded_SW\Embedded\.config\xconfig_Embedded\.buildtime
\ No newline at end of file
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.interfaces b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.interfaces
new file mode 100644
index 000000000..e69de29bb
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.xdcenv.mak b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.xdcenv.mak
new file mode 100644
index 000000000..7654ecd27
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.xdcenv.mak
@@ -0,0 +1,16 @@
+#
+_XDCBUILDCOUNT = 
+ifneq (,$(findstring path,$(_USEXDCENV_)))
+override XDCPATH = C:/TI/tirtos_tivac_2_16_00_08/packages;C:/TI/tirtos_tivac_2_16_00_08/products/tidrivers_tivac_2_16_00_08/packages;C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages;C:/TI/tirtos_tivac_2_16_00_08/products/ndk_2_25_00_09/packages;C:/TI/tirtos_tivac_2_16_00_08/products/uia_2_00_05_50/packages;C:/TI/tirtos_tivac_2_16_00_08/products/ns_1_11_00_10/packages;C:/TI/TivaWare_C_Series-2.1.2.111;C:/TI/ccsv7/ccs_base;C:/Tango/Software/Embedded_SW/Embedded/.config
+override XDCROOT = C:/TI/xdctools_3_32_00_06_core
+override XDCBUILDCFG = ./config.bld
+endif
+ifneq (,$(findstring args,$(_USEXDCENV_)))
+override XDCARGS = 
+override XDCTARGETS = 
+endif
+#
+ifeq (0,1)
+PKGPATH = C:/TI/tirtos_tivac_2_16_00_08/packages;C:/TI/tirtos_tivac_2_16_00_08/products/tidrivers_tivac_2_16_00_08/packages;C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages;C:/TI/tirtos_tivac_2_16_00_08/products/ndk_2_25_00_09/packages;C:/TI/tirtos_tivac_2_16_00_08/products/uia_2_00_05_50/packages;C:/TI/tirtos_tivac_2_16_00_08/products/ns_1_11_00_10/packages;C:/TI/TivaWare_C_Series-2.1.2.111;C:/TI/ccsv7/ccs_base;C:/Tango/Software/Embedded_SW/Embedded/.config;C:/TI/xdctools_3_32_00_06_core/packages;..
+HOSTOS = Windows
+endif
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/compiler.opt.defs b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/compiler.opt.defs
new file mode 100644
index 000000000..c48b1a33d
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/compiler.opt.defs
@@ -0,0 +1 @@
+-I"C:/TI/tirtos_tivac_2_16_00_08/packages" -I"C:/TI/tirtos_tivac_2_16_00_08/products/tidrivers_tivac_2_16_00_08/packages" -I"C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages" -I"C:/TI/tirtos_tivac_2_16_00_08/products/ndk_2_25_00_09/packages" -I"C:/TI/tirtos_tivac_2_16_00_08/products/uia_2_00_05_50/packages" -I"C:/TI/tirtos_tivac_2_16_00_08/products/ns_1_11_00_10/packages" -I"C:/TI/TivaWare_C_Series-2.1.2.111" -I"C:/TI/ccsv7/ccs_base" -I"C:/Tango/Software/Embedded_SW/Embedded/.config" -I"C:/TI/xdctools_3_32_00_06_core/packages" -I"C:/Tango/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/.." -IC:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/include/rts -IC:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/include  -Dxdc_target_types__="ti/targets/arm/elf/std.h" -Dxdc_target_name__=M4F -Dxdc_cfg__xheader__="\"C:/Tango/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.h\""
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/config.bld b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/config.bld
new file mode 100644
index 000000000..74ff6d21b
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/config.bld
@@ -0,0 +1,24 @@
+/* THIS IS A GENERATED FILE -- DO NOT EDIT */
+
+var target;    /* the target used for this build */
+
+/* configuro was passed the target's name explicitly */
+try {
+    target = xdc.module('ti.targets.arm.elf.M4F');
+}
+catch (e) {
+    throw new Error("Can't find the target named '" + 'ti.targets.arm.elf.M4F'
+                    + "' along the path '" + environment["xdc.path"]
+                    + "': please check the spelling of the target's name and that it exists along this path.");
+}
+if (!(target instanceof xdc.module("xdc.bld.ITarget").Module)) {
+    throw new Error("The module named 'ti.targets.arm.elf.M4F' exists but it's not a target: please check the spelling of the target's name");
+}
+
+/* configuro was passed compiler options explicitly */
+target.ccOpts.prefix = unescape("%22--code_state%3D16%20--float_support%3DFPv4SPD16%20-me%20") + target.ccOpts.prefix;
+
+/* configuro was passed the target's rootDir explicitly */
+target.rootDir = 'C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS';
+
+Build.targets = [target];
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/custom.mak b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/custom.mak
new file mode 100644
index 000000000..776a3cb74
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/custom.mak
@@ -0,0 +1,11 @@
+## THIS IS A GENERATED FILE -- DO NOT EDIT
+.configuro: .libraries,em4f linker.cmd package/cfg/Embedded_pem4f.oem4f
+
+# To simplify configuro usage in makefiles:
+#     o create a generic linker command file name 
+#     o set modification times of compiler.opt* files to be greater than
+#       or equal to the generated config header
+#
+linker.cmd: package/cfg/Embedded_pem4f.xdl
+	$(SED) 's"^\"\(package/cfg/Embedded_pem4fcfg.cmd\)\"$""\"C:/Tango/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/\1\""' package/cfg/Embedded_pem4f.xdl > $@
+	-$(SETDATE) -r:max package/cfg/Embedded_pem4f.h compiler.opt compiler.opt.defs
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.bld b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.bld
new file mode 100644
index 000000000..30e81adf6
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.bld
@@ -0,0 +1,78 @@
+/* THIS IS A GENERATED FILE -- DO NOT EDIT */
+
+var targ = xdc.module('ti.targets.arm.elf.M4F');
+/* configuro was told the platform explicitly */
+var platform = 'ti.platforms.tiva:TM4C129XNCZAD';
+
+/* decide whether to make an assembly or an executable */
+var makeAssembly = false;
+
+
+var Executable = xdc.module('xdc.bld.Executable');
+
+var exeOpts = new Executable.Attrs({
+        cfgScript: 'C:/Tango/Software/Embedded_SW/Embedded/Embedded.cfg',
+        profile: 'release',
+        cfgHome: 'xconfig_Embedded',
+});
+
+exeOpts.cfgArgs = 'null';
+exeOpts.cfgArgsEncoded = true;
+
+var exe = Pkg[makeAssembly ? 'addAssembly': 'addExecutable'](
+    'Embedded',
+    targ,
+    platform,
+    exeOpts
+);
+
+/*
+ * Generate the compiler.opt file
+ * Do this here instead of during the initial creation of the configuro
+ * package, because the contents of any config.bld script are unknown
+ * at that time. Config.bld can't be executed until the XDC build phase.
+ */
+if (makeAssembly) {
+    var suffix = targ.dllExt || '.p' + targ.suffix;
+}
+else {
+    var suffix = '.p' + targ.suffix;
+}
+
+var thisObj = {
+    cfg:        'C:/Tango/Software/Embedded_SW/Embedded/Embedded.cfg',
+    outputPath: 'C:/Tango/Software/Embedded_SW/Embedded/.config/xconfig_Embedded',
+    exeName:    'Embedded' + suffix,
+    exeIntName: 'Embedded' + suffix.replace('.', '_'),
+    targ:       targ,
+    linkerCommandFile: 'linker.cmd',
+    compilerOptFile: 'compiler.opt',
+    compilerDefsFile: 'compiler.opt' + ".defs",
+    makeAssembly: makeAssembly
+};
+var tmpl = xdc.loadTemplate('xdc/tools/configuro/template/compiler.opt.xdt');
+tmpl.genFile('compiler.opt', thisObj, [], false);
+
+/*
+ * Generate the custom makefile.
+ */
+var tmpl = xdc.loadTemplate('xdc/tools/configuro/template/' + 
+    (makeAssembly? 'custom.mak.asm.xdt' : 'custom.mak.exe.xdt'));
+tmpl.genFile('custom.mak', thisObj, [], false);
+Pkg.makeEpilogue = "include custom.mak";
+
+/*
+ * Generate the package script.
+ */
+var tmpl = xdc.loadTemplate('xdc/tools/configuro/template/package.xs.xdt');
+tmpl.genFile('package.xs', thisObj, [], false);
+
+if (makeAssembly) {
+/*
+ * Generate the linker options into a staging file, so that the presence or
+ * age of the advertised linker command file can be the makefile trigger to
+ * rebuild the package from the user's config script.
+ */
+    var tmpl = xdc.loadTemplate('xdc/tools/configuro/template/linker.cmd.asm.xdt');
+    tmpl.genFile('linker.cmd.cp', thisObj, [], false);
+}
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.mak b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.mak
new file mode 100644
index 000000000..6f18e8d3b
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.mak
@@ -0,0 +1,256 @@
+#
+#  Do not edit this file.  This file is generated from 
+#  package.bld.  Any modifications to this file will be 
+#  overwritten whenever makefiles are re-generated.
+#
+
+unexport MAKEFILE_LIST
+MK_NOGENDEPS := $(filter clean,$(MAKECMDGOALS))
+override PKGDIR = xconfig_Embedded
+XDCINCS = -I. -I$(strip $(subst ;, -I,$(subst $(space),\$(space),$(XPKGPATH))))
+XDCCFGDIR = package/cfg/
+
+#
+# The following dependencies ensure package.mak is rebuilt
+# in the event that some included BOM script changes.
+#
+ifneq (clean,$(MAKECMDGOALS))
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/utils.js:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/utils.js
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/xdc.tci:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/xdc.tci
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/template.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/template.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/om2.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/om2.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/xmlgen.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/xmlgen.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/xmlgen2.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/xmlgen2.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/Warnings.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/Warnings.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/IPackage.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/IPackage.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/package.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/package.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/global/Clock.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/global/Clock.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/global/Trace.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/global/Trace.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/bld.js:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/bld.js
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/BuildEnvironment.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/BuildEnvironment.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/PackageContents.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/PackageContents.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/_gen.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/_gen.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Library.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Library.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Executable.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Executable.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Repository.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Repository.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Configuration.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Configuration.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Script.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Script.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Manifest.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Manifest.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Utils.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/Utils.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/ITarget.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/ITarget.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/ITarget2.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/ITarget2.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/ITarget3.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/ITarget3.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/ITargetFilter.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/ITargetFilter.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/package.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/bld/package.xs
+package.mak: config.bld
+C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/ITarget.xs:
+package.mak: C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/ITarget.xs
+C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/C28_large.xs:
+package.mak: C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/C28_large.xs
+C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/C28_float.xs:
+package.mak: C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/C28_float.xs
+C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/package.xs:
+package.mak: C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/package.xs
+C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/IArm.xs:
+package.mak: C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/IArm.xs
+C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/package.xs:
+package.mak: C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/package.xs
+package.mak: package.bld
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/tools/configuro/template/compiler.opt.xdt:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/tools/configuro/template/compiler.opt.xdt
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/io/File.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/io/File.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/io/package.xs:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/io/package.xs
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/tools/configuro/template/compiler.defs.xdt:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/tools/configuro/template/compiler.defs.xdt
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/tools/configuro/template/custom.mak.exe.xdt:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/tools/configuro/template/custom.mak.exe.xdt
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/tools/configuro/template/package.xs.xdt:
+package.mak: C:/TI/xdctools_3_32_00_06_core/packages/xdc/tools/configuro/template/package.xs.xdt
+endif
+
+ti.targets.arm.elf.M4F.rootDir ?= C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS
+ti.targets.arm.elf.packageBase ?= C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/
+.PRECIOUS: $(XDCCFGDIR)/%.oem4f
+.PHONY: all,em4f .dlls,em4f .executables,em4f test,em4f
+all,em4f: .executables,em4f
+.executables,em4f: .libraries,em4f
+.executables,em4f: .dlls,em4f
+.dlls,em4f: .libraries,em4f
+.libraries,em4f: .interfaces
+	@$(RM) $@
+	@$(TOUCH) "$@"
+
+.help::
+	@$(ECHO) xdc test,em4f
+	@$(ECHO) xdc .executables,em4f
+	@$(ECHO) xdc .libraries,em4f
+	@$(ECHO) xdc .dlls,em4f
+
+
+all: .executables 
+.executables: .libraries .dlls
+.libraries: .interfaces
+
+PKGCFGS := $(wildcard package.xs) package/build.cfg
+.interfaces: package/package.xdc.inc package/package.defs.h package.xdc $(PKGCFGS)
+
+-include package/package.xdc.dep
+package/%.xdc.inc package/%_xconfig_Embedded.c package/%.defs.h: %.xdc $(PKGCFGS)
+	@$(MSG) generating interfaces for package xconfig_Embedded" (because $@ is older than $(firstword $?))" ...
+	$(XSRUN) -f xdc/services/intern/cmd/build.xs $(MK_IDLOPTS) -m package/package.xdc.dep -i package/package.xdc.inc package.xdc
+
+.dlls,em4f .dlls: Embedded.pem4f
+
+-include package/cfg/Embedded_pem4f.mak
+-include package/cfg/Embedded_pem4f.cfg.mak
+ifeq (,$(MK_NOGENDEPS))
+-include package/cfg/Embedded_pem4f.dep
+endif
+Embedded.pem4f: package/cfg/Embedded_pem4f.xdl
+	@
+
+
+ifeq (,$(wildcard .libraries,em4f))
+Embedded.pem4f package/cfg/Embedded_pem4f.c: .libraries,em4f
+endif
+
+package/cfg/Embedded_pem4f.c package/cfg/Embedded_pem4f.h package/cfg/Embedded_pem4f.xdl: override _PROG_NAME := Embedded.xem4f
+package/cfg/Embedded_pem4f.c: package/cfg/Embedded_pem4f.cfg
+package/cfg/Embedded_pem4f.xdc.inc: package/cfg/Embedded_pem4f.xdl
+package/cfg/Embedded_pem4f.xdl package/cfg/Embedded_pem4f.c: .interfaces
+
+clean:: clean,em4f
+	-$(RM) package/cfg/Embedded_pem4f.cfg
+	-$(RM) package/cfg/Embedded_pem4f.dep
+	-$(RM) package/cfg/Embedded_pem4f.c
+	-$(RM) package/cfg/Embedded_pem4f.xdc.inc
+
+clean,em4f::
+	-$(RM) Embedded.pem4f
+.executables,em4f .executables: Embedded.xem4f
+
+Embedded.xem4f: |Embedded.pem4f
+
+-include package/cfg/Embedded.xem4f.mak
+Embedded.xem4f: package/cfg/Embedded_pem4f.oem4f 
+	$(RM) $@
+	@$(MSG) lnkem4f $@ ...
+	$(RM) $(XDCCFGDIR)/$@.map
+	$(ti.targets.arm.elf.M4F.rootDir)/bin/armcl -fs $(XDCCFGDIR)$(dir $@). -q -u _c_int00 --silicon_version=7M4 -z --strict_compatibility=on  -o $@ package/cfg/Embedded_pem4f.oem4f   package/cfg/Embedded_pem4f.xdl  -w -c -m $(XDCCFGDIR)/$@.map -l $(ti.targets.arm.elf.M4F.rootDir)/lib/libc.a
+	
+Embedded.xem4f: export C_DIR=
+Embedded.xem4f: PATH:=$(ti.targets.arm.elf.M4F.rootDir)/bin/;$(PATH)
+Embedded.xem4f: Path:=$(ti.targets.arm.elf.M4F.rootDir)/bin/;$(PATH)
+
+Embedded.test test,em4f test: Embedded.xem4f.test
+
+Embedded.xem4f.test:: Embedded.xem4f
+ifeq (,$(_TESTLEVEL))
+	@$(MAKE) -R -r --no-print-directory -f $(XDCROOT)/packages/xdc/bld/xdc.mak _TESTLEVEL=1 Embedded.xem4f.test
+else
+	@$(MSG) running $<  ...
+	$(call EXEC.Embedded.xem4f, ) 
+endif
+
+clean,em4f::
+	-$(RM) $(wildcard .tmp,Embedded.xem4f,*)
+
+
+clean:: clean,em4f
+
+clean,em4f::
+	-$(RM) Embedded.xem4f
+%,copy:
+	@$(if $<,,$(MSG) don\'t know how to build $*; exit 1)
+	@$(MSG) cp $< $@
+	$(RM) $@
+	$(CP) $< $@
+Embedded_pem4f.oem4f,copy : package/cfg/Embedded_pem4f.oem4f
+Embedded_pem4f.sem4f,copy : package/cfg/Embedded_pem4f.sem4f
+
+$(XDCCFGDIR)%.c $(XDCCFGDIR)%.h $(XDCCFGDIR)%.xdl: $(XDCCFGDIR)%.cfg $(XDCROOT)/packages/xdc/cfg/Main.xs | .interfaces
+	@$(MSG) "configuring $(_PROG_NAME) from $< ..."
+	$(CONFIG) $(_PROG_XSOPTS) xdc.cfg $(_PROG_NAME) $(XDCCFGDIR)$*.cfg $(XDCCFGDIR)$*
+
+.PHONY: release,xconfig_Embedded
+ifeq (,$(MK_NOGENDEPS))
+-include package/rel/xconfig_Embedded.tar.dep
+endif
+package/rel/xconfig_Embedded/xconfig_Embedded/package/package.rel.xml: package/package.bld.xml
+package/rel/xconfig_Embedded/xconfig_Embedded/package/package.rel.xml: package/build.cfg
+package/rel/xconfig_Embedded/xconfig_Embedded/package/package.rel.xml: package/package.xdc.inc
+package/rel/xconfig_Embedded/xconfig_Embedded/package/package.rel.xml: .force
+	@$(MSG) generating external release references $@ ...
+	$(XS) $(JSENV) -f $(XDCROOT)/packages/xdc/bld/rel.js $(MK_RELOPTS) . $@
+
+xconfig_Embedded.tar: package/rel/xconfig_Embedded.xdc.inc package/rel/xconfig_Embedded/xconfig_Embedded/package/package.rel.xml
+	@$(MSG) making release file $@ "(because of $(firstword $?))" ...
+	-$(RM) $@
+	$(call MKRELTAR,package/rel/xconfig_Embedded.xdc.inc,package/rel/xconfig_Embedded.tar.dep)
+
+
+release release,xconfig_Embedded: all xconfig_Embedded.tar
+clean:: .clean
+	-$(RM) xconfig_Embedded.tar
+	-$(RM) package/rel/xconfig_Embedded.xdc.inc
+	-$(RM) package/rel/xconfig_Embedded.tar.dep
+
+clean:: .clean
+	-$(RM) .libraries $(wildcard .libraries,*)
+clean:: 
+	-$(RM) .dlls $(wildcard .dlls,*)
+#
+# The following clean rule removes user specified
+# generated files or directories.
+#
+
+ifneq (clean,$(MAKECMDGOALS))
+ifeq (,$(wildcard package))
+    $(shell $(MKDIR) package)
+endif
+ifeq (,$(wildcard package/cfg))
+    $(shell $(MKDIR) package/cfg)
+endif
+ifeq (,$(wildcard package/lib))
+    $(shell $(MKDIR) package/lib)
+endif
+ifeq (,$(wildcard package/rel))
+    $(shell $(MKDIR) package/rel)
+endif
+ifeq (,$(wildcard package/internal))
+    $(shell $(MKDIR) package/internal)
+endif
+endif
+clean::
+	-$(RMDIR) package
+
+include custom.mak
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.xdc b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.xdc
new file mode 100644
index 000000000..5ae1a0aa5
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.xdc
@@ -0,0 +1,7 @@
+/*!
+ * Package generated by xdc.tools.configuro
+ *
+ * @_nodoc
+ */
+package xconfig_Embedded {
+}
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.xs b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.xs
new file mode 100644
index 000000000..373d44f5e
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package.xs
@@ -0,0 +1,20 @@
+/* THIS IS A GENERATED FILE -- DO NOT EDIT */
+
+/* return the names of the generated config objects */
+function getLibs(prog) {
+    /* for programs, push the generated config object file into the
+     * generated linker command file.
+     */
+    /* replace the last period in the name by an underscore */
+    var name = "package/cfg/" + prog.name.replace(/\.([^.]*)$/, "_$1");
+    /* base is a hack until we add cfgName to Program */
+    var base = "package/cfg/" + prog.name.replace(/\.([^.]*)$/, "");
+    var suffix = prog.build.target.suffix;
+
+    var libs = [
+//        name + '.o' + suffix, 
+        base + '_p' + suffix + '.o' + suffix
+    ];
+
+    return libs.join(';');
+}
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_b160 b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_b160
new file mode 100644
index 000000000..e69de29bb
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_g180 b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_g180
new file mode 100644
index 000000000..e69de29bb
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_r170 b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.vers_r170
new file mode 100644
index 000000000..e69de29bb
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.xdc-B06 b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/.xdc-B06
new file mode 100644
index 000000000..e69de29bb
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/build.cfg b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/build.cfg
new file mode 100644
index 000000000..5ec1eb102
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/build.cfg
@@ -0,0 +1,9 @@
+if (pkg.$vers.length >= 3) {
+    pkg.$vers.push(Packages.xdc.services.global.Vers.getDate(xdc.csd() + '/..'));
+}
+
+pkg.build.libraries = [
+];
+
+pkg.build.libDesc = [
+];
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded.xem4f.mak b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded.xem4f.mak
new file mode 100644
index 000000000..f7ad36e1c
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded.xem4f.mak
@@ -0,0 +1,11 @@
+#
+#  Do not edit this file.  This file is generated from 
+#  package.bld.  Any modifications to this file will be 
+#  overwritten whenever makefiles are re-generated.
+#
+#  target compatibility key = ti.targets.arm.elf.M4F{1,0,16.9,4
+#
+Embedded.xem4f: package/cfg/Embedded.xem4f.mak
+
+clean::
+	-$(RM) package/cfg/Embedded.xem4f.mak
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.cfg b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.cfg
new file mode 100644
index 000000000..5e7fdeb7d
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.cfg
@@ -0,0 +1,268 @@
+/*
+ *  ======== package/cfg/Embedded_pem4f.cfg ========
+ *  This generated configuration script runs the user's configuration script
+ *  the context of a specific target and platform in order to generate
+ *  all the files necessary to create an executable; e.g., linker command
+ *  files, static C/C++ data structures, etc.
+ */
+
+/*
+ *  ======== _applyChanges ========
+ *  Changes that bring the build target to the state at the end of the build
+ *  model
+ */
+function _applyChanges(obj, chgObj) {
+    var wasSealed = false;
+    if (obj.$sealed) {
+        wasSealed = true;
+        obj.$unseal();
+    }
+    for (var prop in chgObj) {
+        if (typeof obj[prop] == 'object' && obj[prop] != undefined) {
+            if ("$category" in obj[prop] && obj[prop].$category == "Vector") {
+               obj[prop].length = chgObj[prop].length;
+               for (var i = 0; i < chgObj[prop].length; i++) {
+                   if (obj[prop].length < i + 1) {
+                       obj[prop].length++;
+                   }
+                   obj[prop][i] = chgObj[prop][i];
+               }
+            }
+            else {
+        	_applyChanges(obj[prop], chgObj[prop]);
+            }
+	}
+	else {
+            obj[prop] = chgObj[prop];
+	}
+    }
+    if (wasSealed) {
+        obj.$seal();
+    }
+}
+
+/*
+ *  ======== _runescape ========
+ *  Recursive unescape to decode serialized strings
+ */
+function _runescape(obj) {
+    for (var i in obj) {
+	if (obj[i] != null) {
+	    if (typeof obj[i] == 'string') {
+		obj[i] = unescape(obj[i]);
+	    }
+	    else if (typeof obj[i] == 'object') {
+		_runescape(obj[i]);
+	    }
+	}
+    }
+}
+
+/*
+ *  ======== _getPlatCfg ========
+ */
+function _getPlatCfg() {
+    var tmp = {};
+    _runescape(tmp);
+    return (tmp);
+}
+/*
+ *  ======== _cfginit ========
+ */
+function _cfginit() {
+    xdc.loadPackage('xdc.services.intern.cmd');
+    var prog = xdc.om['xdc.cfg.Program'];
+
+    /* initialize prog attrs from build model */
+    var build = {
+        profile: "release",
+        cfgScript: "C%3A/Tango/Software/Embedded_SW/Embedded/Embedded.cfg",
+        cfgHome: "xconfig_Embedded",
+        cfgArgs: "null",
+        cfgArgsEncoded: true,
+        releases: {
+            0: {
+                name: "xconfig_Embedded",
+                attrs: {
+                    prefix: "",
+                    label: "default"
+                },
+                otherFiles: {},
+                excludeDirs: {}
+            }
+        },
+        prelink: false
+    };
+    _runescape(build);
+    build.cfgArgs = null;
+    build.target = xdc.module("ti.targets.arm.elf.M4F");
+    var targChange = {
+        platforms: [
+            "ti.platforms.tiva%3ATM4C1294NCPDT%3A1"
+        ],
+        version: "ti.targets.arm.elf.M4F%7B1%2C0%2C16.9%2C4",
+        extensions: {
+            ".sem4fe": {
+                suf: ".sem4fe",
+                typ: "asm"
+            },
+            ".sem4f": {
+                suf: ".sem4f",
+                typ: "asm"
+            },
+            ".sv7M4": {
+                suf: ".sv7M4",
+                typ: "asm"
+            },
+            ".sv7M": {
+                suf: ".sv7M",
+                typ: "asm"
+            }
+        },
+        rootDir: "C%3A/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS",
+        ccOpts: {
+            prefix: "%22--code_state%3D16%20--float_support%3DFPv4SPD16%20-me%20-qq%20-pdsw225"
+        },
+        rawVersion: "16.9.4"
+    };
+    _runescape(targChange);
+    _applyChanges(build.target, targChange);
+
+    prog.build = build;
+
+    prog.name = "Embedded.xem4f";
+    prog.cfgBase = "package/cfg/Embedded_pem4f";
+
+    prog.endian = prog.build.target.model.endian;
+    prog.codeModel = prog.build.target.model.codeModel;
+
+    /* use the platform package's Platform module */
+    var Platform = xdc.useModule("ti.platforms.tiva.Platform");
+    var platParams = _getPlatCfg();
+    var invalidParams = [];
+    for (var prop in platParams) {
+        if (!(prop in Platform.PARAMS)) {
+            delete platParams[prop];
+            invalidParams.push(prop);
+        }
+    }
+    prog.platformName = "ti.platforms.tiva:TM4C129XNCZAD";
+    prog.platform = Platform.create("TM4C129XNCZAD", platParams);
+    for (var i = 0; i < invalidParams.length; i++) {
+        Platform.$logWarning("The parameter '" + invalidParams[i] + "' is " +
+            "passed to this platform instance through Build.platformTable, " +
+            "but the instance does not have a configuration parameter with " +
+            "that name.", prog.platform, "TM4C129XNCZAD");
+    }
+
+    /* record the executable's package name */
+    prog.buildPackage = "xconfig_Embedded";
+
+    /* record build-model information required during config generation */
+    prog.$$bind("$$isasm", 0);
+    prog.$$bind("$$isrom", 0);
+    prog.$$bind("$$gentab", [
+    ]);
+
+    /* bind prog to an appropriate execution context */
+    prog.cpu = prog.platform.getExeContext(prog);
+
+    /* import the target's run-time support pkg */
+    xdc.loadPackage("ti.targets.arm.rtsarm");
+}
+
+/* function to import the cfg script's package */
+function _userscript(script) {
+    var home;
+    var spath;
+    home = xdc.loadPackage("xconfig_Embedded");
+
+    xdc.om.$$bind('$homepkg', home);
+
+    var cfgScript = "C:/Tango/Software/Embedded_SW/Embedded/Embedded.cfg";
+    if (!script) {
+        utils.loadCapsule(cfgScript, false, spath);
+    }
+    else {
+        /* set up the same environment that loadCapsule would */
+        var $saveCsd = utils.csd;
+        var $cfgFile = utils.findFile(cfgScript, spath);
+        var cname = cfgScript;
+        if ($cfgFile) {
+            $cfgFile = java.io.File($cfgFile);
+            utils.csd = $cfgFile.getParentFile().getCanonicalPath();
+            cname = "" + $cfgFile.getCanonicalPath();
+        }
+
+        /* create the capsule object */
+        var cap = {
+            prototype:  utils.global,
+            $path:      cname,
+            $private:   {path: cname},
+            $capsule:   undefined,      /* set to cap below */
+        };
+
+        /* 'this.$capsule' is always cap object */
+        cap.$capsule = cap;
+
+        /* save the capsule object */
+        utils.$$capmap[cname] = cap;
+
+        try {
+            var cx =
+                Packages.org.mozilla.javascript.Context.getCurrentContext();
+            var rdr = new
+                java.io.BufferedReader(new java.io.StringReader(script));
+            Packages.config.Shell.evaluateLoad(cx, cap, rdr, cname, 1);
+        }
+        finally {
+            rdr.close();
+            utils.csd = $saveCsd;
+        }
+    }
+}
+
+function _postinit() {
+    var cout = null;
+
+    var Program = xdc.om['xdc.cfg.Program'];
+    /* get the exec command for this executable */
+    if (Program.execCmd == null) {
+        Program.execCmd = Program.platform.getExecCmd(Program,
+            xdc.om["ti.platforms.tiva"].packageBase);
+    }
+    cout = "define EXEC." + Program.name + '\n\n';
+    cout += Program.execCmd;
+    cout += "\nendef\n\n";
+
+    /* if SourceDir generates a makefile, we need to run it */
+    _genSourceDirMak("package/cfg/Embedded_pem4f", "Embedded.pem4f");
+
+    utils.genDep("package/cfg/Embedded_pem4f", "xconfig_Embedded", utils.loadedFiles, cout, null);
+}
+
+function _genSourceDirMak(cfgBase, cfgName)
+{
+    var SourceDir = xdc.om['xdc.cfg.SourceDir'];
+
+    if (SourceDir && SourceDir.$instances.length > 0) {
+        /* construct rule to run SourceDir generated makefile */
+        var make = "\t$(MAKE) -f "
+            + SourceDir.outputDir + "/" + SourceDir.makefileName;
+
+        /* this file is included by package.mak (if it exists) */
+        var file = new java.io.File(cfgBase + ".cfg.mak");
+        file["delete"]();
+        var out = new java.io.BufferedWriter(new java.io.FileWriter(file));
+
+        /* add rules to run SourceDir generated makefile */
+        out.write("# invoke SourceDir generated makefile for " + cfgName
+            + "\n" + cfgName + ": .libraries," + cfgName
+            + "\n.libraries," + cfgName + ": " + cfgBase + ".xdl\n"
+            + make + "\n\n"
+            + "clean::\n" + make + " clean\n\n"
+        );
+        out.close();
+        out = null;
+    }
+}
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.mak b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.mak
new file mode 100644
index 000000000..ba42567df
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/cfg/Embedded_pem4f.mak
@@ -0,0 +1,46 @@
+#
+#  Do not edit this file.  This file is generated from 
+#  package.bld.  Any modifications to this file will be 
+#  overwritten whenever makefiles are re-generated.
+#
+#  target compatibility key = ti.targets.arm.elf.M4F{1,0,16.9,4
+#
+ifeq (,$(MK_NOGENDEPS))
+-include package/cfg/Embedded_pem4f.oem4f.dep
+package/cfg/Embedded_pem4f.oem4f.dep: ;
+endif
+
+package/cfg/Embedded_pem4f.oem4f: | .interfaces
+package/cfg/Embedded_pem4f.oem4f: package/cfg/Embedded_pem4f.c package/cfg/Embedded_pem4f.mak
+	@$(RM) $@.dep
+	$(RM) $@
+	@$(MSG) clem4f $< ...
+	$(ti.targets.arm.elf.M4F.rootDir)/bin/armcl -c  "--code_state=16 --float_support=FPv4SPD16 -me -qq -pdsw225 -ms --fp_mode=strict --endian=little -mv7M4 --abi=eabi --float_support=fpv4spd16 -eo.oem4f -ea.sem4f   -Dxdc_cfg__xheader__='"xconfig_Embedded/package/cfg/Embedded_pem4f.h"'  -Dxdc_target_name__=M4F -Dxdc_target_types__=ti/targets/arm/elf/std.h -Dxdc_bld__profile_release -Dxdc_bld__vers_1_0_16_9_4 -O2  $(XDCINCS) -I$(ti.targets.arm.elf.M4F.rootDir)/include/rts -I$(ti.targets.arm.elf.M4F.rootDir)/include  -fs=./package/cfg -fr=./package/cfg -fc $<
+	$(MKDEP) -a $@.dep -p package/cfg -s oem4f $< -C   "--code_state=16 --float_support=FPv4SPD16 -me -qq -pdsw225 -ms --fp_mode=strict --endian=little -mv7M4 --abi=eabi --float_support=fpv4spd16 -eo.oem4f -ea.sem4f   -Dxdc_cfg__xheader__='"xconfig_Embedded/package/cfg/Embedded_pem4f.h"'  -Dxdc_target_name__=M4F -Dxdc_target_types__=ti/targets/arm/elf/std.h -Dxdc_bld__profile_release -Dxdc_bld__vers_1_0_16_9_4 -O2  $(XDCINCS) -I$(ti.targets.arm.elf.M4F.rootDir)/include/rts -I$(ti.targets.arm.elf.M4F.rootDir)/include  -fs=./package/cfg -fr=./package/cfg
+	-@$(FIXDEP) $@.dep $@.dep
+	
+package/cfg/Embedded_pem4f.oem4f: export C_DIR=
+package/cfg/Embedded_pem4f.oem4f: PATH:=$(ti.targets.arm.elf.M4F.rootDir)/bin/;$(PATH)
+package/cfg/Embedded_pem4f.oem4f: Path:=$(ti.targets.arm.elf.M4F.rootDir)/bin/;$(PATH)
+
+package/cfg/Embedded_pem4f.sem4f: | .interfaces
+package/cfg/Embedded_pem4f.sem4f: package/cfg/Embedded_pem4f.c package/cfg/Embedded_pem4f.mak
+	@$(RM) $@.dep
+	$(RM) $@
+	@$(MSG) clem4f -n $< ...
+	$(ti.targets.arm.elf.M4F.rootDir)/bin/armcl -c -n -s --symdebug:none "--code_state=16 --float_support=FPv4SPD16 -me -qq -pdsw225 --endian=little -mv7M4 --abi=eabi --float_support=fpv4spd16 -eo.oem4f -ea.sem4f   -Dxdc_cfg__xheader__='"xconfig_Embedded/package/cfg/Embedded_pem4f.h"'  -Dxdc_target_name__=M4F -Dxdc_target_types__=ti/targets/arm/elf/std.h -Dxdc_bld__profile_release -Dxdc_bld__vers_1_0_16_9_4 -O2  $(XDCINCS) -I$(ti.targets.arm.elf.M4F.rootDir)/include/rts -I$(ti.targets.arm.elf.M4F.rootDir)/include  -fs=./package/cfg -fr=./package/cfg -fc $<
+	$(MKDEP) -a $@.dep -p package/cfg -s oem4f $< -C  -n -s --symdebug:none "--code_state=16 --float_support=FPv4SPD16 -me -qq -pdsw225 --endian=little -mv7M4 --abi=eabi --float_support=fpv4spd16 -eo.oem4f -ea.sem4f   -Dxdc_cfg__xheader__='"xconfig_Embedded/package/cfg/Embedded_pem4f.h"'  -Dxdc_target_name__=M4F -Dxdc_target_types__=ti/targets/arm/elf/std.h -Dxdc_bld__profile_release -Dxdc_bld__vers_1_0_16_9_4 -O2  $(XDCINCS) -I$(ti.targets.arm.elf.M4F.rootDir)/include/rts -I$(ti.targets.arm.elf.M4F.rootDir)/include  -fs=./package/cfg -fr=./package/cfg
+	-@$(FIXDEP) $@.dep $@.dep
+	
+package/cfg/Embedded_pem4f.sem4f: export C_DIR=
+package/cfg/Embedded_pem4f.sem4f: PATH:=$(ti.targets.arm.elf.M4F.rootDir)/bin/;$(PATH)
+package/cfg/Embedded_pem4f.sem4f: Path:=$(ti.targets.arm.elf.M4F.rootDir)/bin/;$(PATH)
+
+clean,em4f ::
+	-$(RM) package/cfg/Embedded_pem4f.oem4f
+	-$(RM) package/cfg/Embedded_pem4f.sem4f
+
+Embedded.pem4f: package/cfg/Embedded_pem4f.oem4f package/cfg/Embedded_pem4f.mak
+
+clean::
+	-$(RM) package/cfg/Embedded_pem4f.mak
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.bld.xml b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.bld.xml
new file mode 100644
index 000000000..b80ad50de
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.bld.xml
@@ -0,0 +1,84 @@
+<?xml version="1.0" encoding="windows-1255"?>
+<!--  This file conforms to the DTD xdc/bld/build.dtd -->
+<package name="xconfig_Embedded" version="" producerId="undefined">
+    <units>
+    </units>
+    <sources>
+        <srcFile name="package/cfg/Embedded_pem4f.c"/>
+    </sources>
+    <configscripts>
+        <srcFile name="C:/Tango/Software/Embedded_SW/Embedded/Embedded.cfg"/>
+    </configscripts>
+    <makefiles>
+        <srcFile name="package.mak" src="package.bld"/>
+        <srcFile name="package/package.xdc.dep" src="package.xdc"/>
+        <srcFile name="package/cfg/Embedded_pem4f.mak" src="package.bld"/>
+        <srcFile name="package/cfg/Embedded_pem4f.oem4f.dep" src="package/cfg/Embedded_pem4f.c"/>
+        <srcFile name="package/cfg/Embedded_pem4f.dep" src="package/cfg/Embedded_pem4f.cfg"/>
+        <srcFile name="package/cfg/Embedded.xem4f.mak" src="package.bld"/>
+        <srcFile name="package/rel/xconfig_Embedded.tar.dep" src="package/rel/xconfig_Embedded.xdc.inc"/>
+    </makefiles>
+    <targets>
+        <target name="ti.targets.arm.elf.M4F"
+            version="ti.targets.arm.elf.M4F{1,0,16.9,4"
+            rawVersion="16.9.4"
+            platform="ti.platforms.tiva:TM4C1294NCPDT:1"
+            isa="v7M4"
+            suffix="em4f"
+            rootDir="C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS"
+            os="undefined"
+            rts="ti.targets.arm.rtsarm">
+            <model endian="little"
+                codeModel="thumb2"
+                dataModel="undefined"/>
+        </target>
+    </targets>
+    <libraries>
+    </libraries>
+    <configurations>
+    <configuration name="Embedded"
+        pname="Embedded.pem4f"
+        target="ti.targets.arm.elf.M4F"
+        platform="ti.platforms.tiva:TM4C129XNCZAD"
+        profile="release"
+        isPartial="false"
+        xCfgScript="package/cfg/Embedded_pem4f.cfg"
+        xCfgPrefix="package/cfg/Embedded_pem4f"
+        cfgScript="C:/Tango/Software/Embedded_SW/Embedded/Embedded.cfg"
+        cfgArgs="null"
+        />
+    </configurations>
+    <executables>
+    <executable name="Embedded"
+        pname="Embedded.xem4f"
+        target="ti.targets.arm.elf.M4F"
+        platform="ti.platforms.tiva:TM4C129XNCZAD"
+        profile="release"
+        xCfgScript="package/cfg/Embedded_pem4f.cfg"
+        xCfgPrefix="package/cfg/Embedded_pem4f"
+        cfgScript="C:/Tango/Software/Embedded_SW/Embedded/Embedded.cfg"
+        cfgArgs="null"
+        />
+    </executables>
+    <tests>
+    <test exeName="Embedded.xem4f"
+        args=""
+        groupName="Embedded.xem4f"
+        refOutput="undefined"
+        refExitCode="0"
+        execArgs=""
+        />
+    </tests>
+    <releases relDir="package/rel/">
+    <release name="xconfig_Embedded"
+        pname="xconfig_Embedded.tar"
+        label="default"
+    >
+        <file name="package/package.bld.xml"/>
+        <file name="package/build.cfg"/>
+        <file name="package/package.xdc.inc"/>
+    </release>
+    </releases>
+    <repositories>
+    </repositories>
+</package>
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.defs.h b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.defs.h
new file mode 100644
index 000000000..0a0250f07
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.defs.h
@@ -0,0 +1,13 @@
+/*
+ *  Do not modify this file; it is automatically 
+ *  generated and any modifications will be overwritten.
+ *
+ * @(#) xdc-B06
+ */
+
+#ifndef xconfig_Embedded__
+#define xconfig_Embedded__
+
+
+
+#endif /* xconfig_Embedded__ */ 
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.xdc.dep b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.xdc.dep
new file mode 100644
index 000000000..f3d85fb1c
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.xdc.dep
@@ -0,0 +1,53 @@
+clean::
+	$(RM) package/xconfig_Embedded.sch
+	$(RM) package/.vers_g180
+	$(RM) package/.vers_r170
+	$(RM) package/.vers_b160
+	$(RM) package/.xdc-B06
+	$(RM) package/xconfig_Embedded.java
+	$(RM) package/xconfig_Embedded.class
+	$(RM) package/package_xconfig_Embedded.c
+	$(RM) package/package.defs.h
+	$(RM) package/xconfig_Embedded.ccs
+
+.interfaces: package/xconfig_Embedded.sch package/.vers_g180 package/.vers_r170 package/.vers_b160 package/.xdc-B06 package/xconfig_Embedded.java package/package_xconfig_Embedded.c package/package.defs.h package/xconfig_Embedded.ccs 
+package/package.xdc.inc: package/.vers_g180
+package/.vers_g180:
+package/package.xdc.inc: package/.vers_r170
+package/.vers_r170:
+package/package.xdc.inc: package/.vers_b160
+package/.vers_b160:
+
+.interfaces: 
+
+# schema include file dependencies
+package.xs:
+package/package.xdc.inc: package.xs
+
+# schema update dependencies
+package/package.xdc.inc: xdc/IPackage.xdc
+xdc/IPackage.xdc:
+vpath xdc/IPackage.xdc $(XPKGVPATH)
+
+ifneq (clean,$(MAKECMDGOALS))
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/shelf/java/antlr.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/shelf/java/antlr.jar
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/intern/gen/java/package.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/intern/gen/java/package.jar
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/intern/cmd/java/package.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/intern/cmd/java/package.jar
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/shelf/java/js.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/shelf/java/js.jar
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/shelf/java/tar.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/shelf/java/tar.jar
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/global/java/package.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/global/java/package.jar
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/spec/java/package.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/spec/java/package.jar
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/shelf/java/ecj.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/shelf/java/ecj.jar
+C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/intern/xsr/java/package.jar:
+package/package.xdc.inc: C:/TI/xdctools_3_32_00_06_core/packages/xdc/services/intern/xsr/java/package.jar
+endif
+# goals for files generated during schema generation but unspecified by schema's pattern rule
+
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.xdc.inc b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.xdc.inc
new file mode 100644
index 000000000..e002a7470
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package.xdc.inc
@@ -0,0 +1,12 @@
+package.xdc
+package.xs
+package/xconfig_Embedded.sch
+package/.vers_g180
+package/.vers_r170
+package/.vers_b160
+package/.xdc-B06
+package/xconfig_Embedded.java
+package/xconfig_Embedded.class
+package/package_xconfig_Embedded.c
+package/package.defs.h
+package/xconfig_Embedded.ccs
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package_xconfig_Embedded.c b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package_xconfig_Embedded.c
new file mode 100644
index 000000000..e62997303
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/package_xconfig_Embedded.c
@@ -0,0 +1,21 @@
+/*
+ *  Do not modify this file; it is automatically 
+ *  generated and any modifications will be overwritten.
+ *
+ * @(#) xdc-B06
+ */
+
+#include <xdc/std.h>
+
+__FAR__ char xconfig_Embedded__dummy__;
+
+#define __xdc_PKGVERS null
+#define __xdc_PKGNAME xconfig_Embedded
+#define __xdc_PKGPREFIX xconfig_Embedded_
+
+#ifdef __xdc_bld_pkg_c__
+#define __stringify(a) #a
+#define __local_include(a) __stringify(a)
+#include __local_include(__xdc_bld_pkg_c__)
+#endif
+
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/rel/xconfig_Embedded.xdc.inc b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/rel/xconfig_Embedded.xdc.inc
new file mode 100644
index 000000000..0f839efb2
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/rel/xconfig_Embedded.xdc.inc
@@ -0,0 +1,3 @@
+package/package.bld.xml
+package/build.cfg
+package/package.xdc.inc
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/rel/xconfig_Embedded.xdc.ninc b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/rel/xconfig_Embedded.xdc.ninc
new file mode 100644
index 000000000..e69de29bb
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.ccs b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.ccs
new file mode 100644
index 000000000..8eec3a496
Binary files /dev/null and b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.ccs differ
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.class b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.class
new file mode 100644
index 000000000..eb25f2af0
Binary files /dev/null and b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.class differ
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.java b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.java
new file mode 100644
index 000000000..7699c0f1b
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.java
@@ -0,0 +1,143 @@
+/*
+ *  Do not modify this file; it is automatically 
+ *  generated and any modifications will be overwritten.
+ *
+ * @(#) xdc-B06
+ */
+import java.util.*;
+import org.mozilla.javascript.*;
+import xdc.services.intern.xsr.*;
+import xdc.services.spec.Session;
+
+public class xconfig_Embedded
+{
+    static final String VERS = "@(#) xdc-B06\n";
+
+    static final Proto.Elm $$T_Bool = Proto.Elm.newBool();
+    static final Proto.Elm $$T_Num = Proto.Elm.newNum();
+    static final Proto.Elm $$T_Str = Proto.Elm.newStr();
+    static final Proto.Elm $$T_Obj = Proto.Elm.newObj();
+
+    static final Proto.Fxn $$T_Met = new Proto.Fxn(null, null, 0, -1, false);
+    static final Proto.Map $$T_Map = new Proto.Map($$T_Obj);
+    static final Proto.Arr $$T_Vec = new Proto.Arr($$T_Obj);
+
+    static final XScriptO $$DEFAULT = Value.DEFAULT;
+    static final Object $$UNDEF = Undefined.instance;
+
+    static final Proto.Obj $$Package = (Proto.Obj)Global.get("$$Package");
+    static final Proto.Obj $$Module = (Proto.Obj)Global.get("$$Module");
+    static final Proto.Obj $$Instance = (Proto.Obj)Global.get("$$Instance");
+    static final Proto.Obj $$Params = (Proto.Obj)Global.get("$$Params");
+
+    static final Object $$objFldGet = Global.get("$$objFldGet");
+    static final Object $$objFldSet = Global.get("$$objFldSet");
+    static final Object $$proxyGet = Global.get("$$proxyGet");
+    static final Object $$proxySet = Global.get("$$proxySet");
+    static final Object $$delegGet = Global.get("$$delegGet");
+    static final Object $$delegSet = Global.get("$$delegSet");
+
+    Scriptable xdcO;
+    Session ses;
+    Value.Obj om;
+
+    boolean isROV;
+    boolean isCFG;
+
+    Proto.Obj pkgP;
+    Value.Obj pkgV;
+
+    ArrayList<Object> imports = new ArrayList<Object>();
+    ArrayList<Object> loggables = new ArrayList<Object>();
+    ArrayList<Object> mcfgs = new ArrayList<Object>();
+    ArrayList<Object> icfgs = new ArrayList<Object>();
+    ArrayList<String> inherits = new ArrayList<String>();
+    ArrayList<Object> proxies = new ArrayList<Object>();
+    ArrayList<Object> sizes = new ArrayList<Object>();
+    ArrayList<Object> tdefs = new ArrayList<Object>();
+
+    void $$IMPORTS()
+    {
+        Global.callFxn("loadPackage", xdcO, "xdc");
+        Global.callFxn("loadPackage", xdcO, "xdc.corevers");
+    }
+
+    void $$OBJECTS()
+    {
+        pkgP = (Proto.Obj)om.bind("xconfig_Embedded.Package", new Proto.Obj());
+        pkgV = (Value.Obj)om.bind("xconfig_Embedded", new Value.Obj("xconfig_Embedded", pkgP));
+    }
+
+    void $$SINGLETONS()
+    {
+        pkgP.init("xconfig_Embedded.Package", (Proto.Obj)om.findStrict("xdc.IPackage.Module", "xconfig_Embedded"));
+        Scriptable cap = (Scriptable)Global.callFxn("loadCapsule", xdcO, "xconfig_Embedded/package.xs");
+        om.bind("xdc.IPackage$$capsule", cap);
+        Object fxn;
+                fxn = Global.get(cap, "init");
+                if (fxn != null) pkgP.addFxn("init", (Proto.Fxn)om.findStrict("xdc.IPackage$$init", "xconfig_Embedded"), fxn);
+                fxn = Global.get(cap, "close");
+                if (fxn != null) pkgP.addFxn("close", (Proto.Fxn)om.findStrict("xdc.IPackage$$close", "xconfig_Embedded"), fxn);
+                fxn = Global.get(cap, "validate");
+                if (fxn != null) pkgP.addFxn("validate", (Proto.Fxn)om.findStrict("xdc.IPackage$$validate", "xconfig_Embedded"), fxn);
+                fxn = Global.get(cap, "exit");
+                if (fxn != null) pkgP.addFxn("exit", (Proto.Fxn)om.findStrict("xdc.IPackage$$exit", "xconfig_Embedded"), fxn);
+                fxn = Global.get(cap, "getLibs");
+                if (fxn != null) pkgP.addFxn("getLibs", (Proto.Fxn)om.findStrict("xdc.IPackage$$getLibs", "xconfig_Embedded"), fxn);
+                fxn = Global.get(cap, "getSects");
+                if (fxn != null) pkgP.addFxn("getSects", (Proto.Fxn)om.findStrict("xdc.IPackage$$getSects", "xconfig_Embedded"), fxn);
+        pkgP.bind("$capsule", cap);
+        pkgV.init2(pkgP, "xconfig_Embedded", Value.DEFAULT, false);
+        pkgV.bind("$name", "xconfig_Embedded");
+        pkgV.bind("$category", "Package");
+        pkgV.bind("$$qn", "xconfig_Embedded.");
+        pkgV.bind("$vers", Global.newArray());
+        Value.Map atmap = (Value.Map)pkgV.getv("$attr");
+        atmap.seal("length");
+        imports.clear();
+        pkgV.bind("$imports", imports);
+        StringBuilder sb = new StringBuilder();
+        sb.append("var pkg = xdc.om['xconfig_Embedded'];\n");
+        sb.append("if (pkg.$vers.length >= 3) {\n");
+            sb.append("pkg.$vers.push(Packages.xdc.services.global.Vers.getDate(xdc.csd() + '/..'));\n");
+        sb.append("}\n");
+        sb.append("if ('xconfig_Embedded$$stat$base' in xdc.om) {\n");
+            sb.append("pkg.packageBase = xdc.om['xconfig_Embedded$$stat$base'];\n");
+            sb.append("pkg.packageRepository = xdc.om['xconfig_Embedded$$stat$root'];\n");
+        sb.append("}\n");
+        sb.append("pkg.build.libraries = [\n");
+        sb.append("];\n");
+        sb.append("pkg.build.libDesc = [\n");
+        sb.append("];\n");
+        Global.eval(sb.toString());
+    }
+
+    void $$INITIALIZATION()
+    {
+        Value.Obj vo;
+
+        if (isCFG) {
+        }//isCFG
+        Global.callFxn("init", pkgV);
+        ((Value.Arr)om.findStrict("$packages", "xconfig_Embedded")).add(pkgV);
+    }
+
+    public void exec( Scriptable xdcO, Session ses )
+    {
+        this.xdcO = xdcO;
+        this.ses = ses;
+        om = (Value.Obj)xdcO.get("om", null);
+
+        Object o = om.geto("$name");
+        String s = o instanceof String ? (String)o : null;
+        isCFG = s != null && s.equals("cfg");
+        isROV = s != null && s.equals("rov");
+
+        $$IMPORTS();
+        $$OBJECTS();
+        if (isROV) {
+        }//isROV
+        $$SINGLETONS();
+        $$INITIALIZATION();
+    }
+}
diff --git a/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.sch b/Software/Embedded_SW/Embedded/.config/xconfig_Embedded/package/xconfig_Embedded.sch
new file mode 100644
index 000000000..e69de29bb
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 0cf75637c..bbc2d3c24 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -130,12 +130,29 @@ enum
 #define DOUBLE_BUFFER 2
 
 
-
+/*
 #define CurrentMotDriver 0x08
 #define VoltageMotDriver 0x00
 #define CurrentCombinedMotDriver 0x0108 // 01 Combined Driver, 08 Current
 #define VoltageCombinedMotDriver 0x0100 // 01 Combined Driver, 00 Voltage
 #define CombinrdMotDriver 0x0300 // 03 Combined Driver + Combined Modes , 00 Voltage mode enabled
+*/
+
+typedef enum
+{
+    //Don't change the value!
+    Current = 0x08,
+    Voltage = 0x00,
+}MOTDRIVER_MODE;
+
+
+typedef enum
+{
+    CurrentMotDriver,
+    VoltageMotDriver,
+    CombinrdMotDriver,
+}MOTDRIVER_TYPE;
+
 
 //#define MagneticLImitSwitch 0x01
 
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 26f6d5c56..cfe466d01 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -136,24 +136,61 @@ uint8_t FPGA_SPI_Receive(TimerMotors_t _motorId)
 
 //---------------- GET ------------------------------
 
-uint32_t Read_Motors_Driver_Type(TimerMotors_t i)
+void Read_Motors_Driver_ADC(TimerMotors_t i)
 {
-    uint32_t status = OK;
-
     SysCtlDelay(12000);
     Fpga_Spi[i].TX_MOSI = (x_GET_PARAM | x_ADC_OUT)<<8;
     FPGA_SPI_Transnit(i);
     SysCtlDelay(12000);
     FPGA_Get_Res(i);
     MotorDriverResponse[i].ADC = Fpga_Spi[i].RX_MISO;
+}
+
+uint32_t Read_Motors_Driver_Type(TimerMotors_t i)
+{
+    uint32_t status = OK;
+
+    Read_Motors_Driver_ADC(i);
+
+/*    int nop = 0;
+
+    if((i == 7) || (i==9))
+    {
+       nop ++;
+    }
+
+*/
 
     if(MotorDriverResponse[i].ADC < 14)
     {
         MotorDriverResponse[i].DriverType = CurrentMotDriver; //(L6472, ADC = 11)
+        MotorDriverResponse[i].DriverMode = Current;
     }
     else
+    if((MotorDriverResponse[i].ADC >= 14) && (MotorDriverResponse[i].ADC < 20))
     {
         MotorDriverResponse[i].DriverType = VoltageMotDriver; //(L6470, ADC = 17)
+        MotorDriverResponse[i].DriverMode = Voltage;
+    }
+    else
+    {
+        //TODO cross between MISO and MOSI in the SPI communication
+        Read_Motors_Driver_ADC(i);
+
+        if(MotorDriverResponse[i].ADC >= 20) // //(powerSTEP01, ADC = 24)
+         {
+            MotorDriverResponse[i].DriverType = CombinrdMotDriver;
+
+            //default for dispensers- Voltage mode, for other motors Current mode
+            if((i >= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1) && (i <= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8))
+                MotorDriverResponse[i].DriverMode = Voltage;
+            else
+                MotorDriverResponse[i].DriverMode = Current;
+        }
+        else
+        {
+            status = ERROR;
+        }
     }
     /*
     if(MotorsCfg[_motorId].microstep == 0)//voltage mode
@@ -542,8 +579,17 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 //                        CM_VM = VoltageMotDriver;
 //                    }
 //                }*/
-                CM_VM = MotorDriverResponse[_motorId].DriverType & 0xFF;
+/*
+                if(MotorDriverResponse[_motorId].DriverType == CombinrdMotDriver)
+                {
+                    CM_VM = CurrentMotDriver;
+                }
+                else
+                    CM_VM = MotorDriverResponse[_motorId].DriverType & 0xFF;
 
+
+*/
+                CM_VM = MotorDriverResponse[_motorId].DriverMode;
                 temp |= (!x_SYNC_EN | CM_VM | good | x_SYNC_SEL_1)<<16;
                 MillisecWriteToMotor(_motorId, temp, 4, FPGA_MotorConfig_callback);
                 break;
@@ -554,7 +600,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         if(MotorsCfg[_motorId].configword!=0)
         {
             //temp = x_SET_PARAM | x_CONFIG;
-            if(MotorDriverResponse[_motorId].DriverType == VoltageCombinedMotDriver)
+            if(MotorDriverResponse[_motorId].DriverType == CombinrdMotDriver)
             {
                 temp = x_SET_PARAM | x_POWERSTEP01_CONFIG;
             }
@@ -690,18 +736,19 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_GATECFG1:
         ConfigStages[_motorId]++;
-        if(MotorDriverResponse[_motorId].DriverType == VoltageCombinedMotDriver)
+        if(MotorDriverResponse[_motorId].DriverType == CombinrdMotDriver)
         {
             temp = x_SET_PARAM | x_POWERSTEP01_GATECFG1;
             temp = temp << 24;
             //Gate Current of 8mA for 2000 ns (boost: 125 ns) Clock watchdog disabled
-            temp |= (POWERSTEP01_TCC_2000ns | POWERSTEP01_IGATE_16mA | POWERSTEP01_TBOOST_125ns | POWERSTEP01_WD_EN_DISABLE)<<8;
+            //temp |= (POWERSTEP01_TCC_2000ns | POWERSTEP01_IGATE_16mA | POWERSTEP01_TBOOST_125ns | POWERSTEP01_WD_EN_DISABLE)<<8;
+            temp |= (POWERSTEP01_TCC_2000ns | POWERSTEP01_IGATE_8mA | POWERSTEP01_TBOOST_125ns | POWERSTEP01_WD_EN_DISABLE)<<8;
             if( MillisecWriteToMotor(_motorId, temp, 4, FPGA_MotorConfig_callback) < 0 ) return ERROR;
             break;
         }
     case MOTOR_CONFIG_GATECFG2:
         ConfigStages[_motorId]++;
-        if(MotorDriverResponse[_motorId].DriverType == VoltageCombinedMotDriver)
+        if(MotorDriverResponse[_motorId].DriverType == CombinrdMotDriver)
         {
             temp = x_SET_PARAM | x_POWERSTEP01_GATECFG2;
             temp = temp << 24;
@@ -831,7 +878,10 @@ void FPGA_SetMotMicroStep(TimerMotors_t _motorId)//
 //            }
 //        }*/
 
-        CM_VM = MotorDriverResponse[_motorId].DriverType & 0xFF;
+        //CM_VM = MotorDriverResponse[_motorId].DriverType & 0xFF;
+
+        //The CM_VM bit sets the current control method between voltage and current mode:
+        CM_VM = MotorDriverResponse[_motorId].DriverMode;
 
         temp |= (!x_SYNC_EN | CM_VM | good | x_SYNC_SEL_1)<<16;
 
@@ -938,7 +988,7 @@ void FPGA_SetMotKvalHold(TimerMotors_t _motorId)
     temp = x_SET_PARAM | x_KVAL_HOLD;
     temp = temp << 24;
 
-    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalHold > 0x7F))
+    if((MotorDriverResponse[_motorId].DriverMode == Current) && (MotorDriverRequest[_motorId].KvalHold > 0x7F))
         MotorDriverRequest[_motorId].KvalHold = 0x7F;
 
     temp |= MotorDriverRequest[_motorId].KvalHold<<16;
@@ -955,7 +1005,7 @@ void FPGA_SetMotKvalRun(TimerMotors_t _motorId)
     temp = x_SET_PARAM | x_KVAL_RUN;
     temp = temp << 24;
 
-    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalRun > 0x7F))
+    if((MotorDriverResponse[_motorId].DriverMode == Current) && (MotorDriverRequest[_motorId].KvalRun > 0x7F))
         MotorDriverRequest[_motorId].KvalRun = 0x7F;
 
     temp |= MotorDriverRequest[_motorId].KvalRun<<16;
@@ -972,7 +1022,7 @@ void FPGA_SetMotKvalAcc(TimerMotors_t _motorId)
     temp = x_SET_PARAM | x_KVAL_ACC;
     temp = temp << 24;
 
-    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalAcc > 0x7F))
+    if((MotorDriverResponse[_motorId].DriverMode == Current) && (MotorDriverRequest[_motorId].KvalAcc > 0x7F))
         MotorDriverRequest[_motorId].KvalAcc = 0x7F;
 
     temp |= MotorDriverRequest[_motorId].KvalAcc<<16;
@@ -989,7 +1039,7 @@ void FPGA_SetMotKvalDec(TimerMotors_t _motorId)
     temp = x_SET_PARAM | x_KVAL_DEC;
     temp = temp << 24;
 
-    if((MotorDriverResponse[_motorId].DriverType == CurrentMotDriver) && (MotorDriverRequest[_motorId].KvalDec > 0x7F))
+    if((MotorDriverResponse[_motorId].DriverMode == Current) && (MotorDriverRequest[_motorId].KvalDec > 0x7F))
         MotorDriverRequest[_motorId].KvalDec = 0x7F;
 
     temp |= MotorDriverRequest[_motorId].KvalDec<<16;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
index 5534a710c..6ee02783d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
@@ -54,6 +54,22 @@ uint32_t Write_DAC_and_Input_Register(uint32_t Bits)
     return status;
 }
 
+uint32_t Write_DAC_and_Input_Register_temp(uint32_t Bits)//to test enc
+{
+    uint32_t status = OK;
+
+    DAC.Bytes.Command   = AD5691R_CMD_WRITE_INPUT_N_UPDATE_REG;
+
+
+    DAC.Bytes.Data_High = (Bits >> 4);
+
+    DAC.Bytes.Data_Low  = ((Bits & 0xf)<<4);
+
+    status = I2C_Write(DAC_I2C_BASE, I2C_DAC_ADDRESS, DAC.Write_DAC_I2C_Buf, 3);
+
+    return status;
+}
+
 uint32_t Write_Input_Register()
 {
     uint32_t status = OK;
@@ -219,6 +235,66 @@ uint32_t Cancel_Gradual_Increase_Blower(uint32_t Initial_mV)
 */
 
 
+//////////////////////////////////////////////////////////////////////////////////////////
+
+#include "drivers/FPGA/FPGA.h";
+
+extern SCREW_ENC Screw_RotEnc;
+
+extern uint32_t Read_Screw_Encoder();
+
+void Screw_ENC_Velocity_to_DAC()//every 1mSec
+{
+    static uint32_t Last_position = 0;
+    uint32_t Current_Position = 0;
+    uint32_t Screw_Velocity = 0;
+    uint32_t Value_to_ADC = 0;
+    static bool first_time = true;
+
+    int8_t Sign = 1;
+
+    if(first_time)
+    {
+        Reset_Screw_Encoder();
+        first_time = false;
+
+    }
+    else
+    {
+        Read_Screw_Encoder();
+        Current_Position = (uint32_t)Screw_RotEnc.Position;
+
+        if(Current_Position > Last_position )
+        {
+            Screw_Velocity = Current_Position - Last_position;
+            Sign = 1;
+        }
+        else
+        {
+            Screw_Velocity = Last_position - Current_Position;
+            Sign = -1;
+        }
+
+
+        uint32_t temp = (Screw_Velocity << 2 );
+
+        if(temp > 2047)
+            temp = 2047;
+        /*else
+        if(temp < -2047)
+            temp = -2047;*/
+
+        Value_to_ADC = 2048 + (Sign * temp);
+
+        //Send to ADC;
+        //Write_DAC_and_Input_Register(Value_to_ADC<<4);
+        Write_DAC_and_Input_Register_temp(Value_to_ADC);
+
+        Last_position = Current_Position;
+    }
+}
+
+
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index 106e60316..4488cfd4f 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -27,6 +27,7 @@
 #include "drivers/FPGA/FPGA_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "driverlib/ssi.h"
+#include "StateMachines/Printing/PrintingSTM.h"
 
 extern unsigned long Run_Value ;
 extern unsigned long Pos_Value ;
@@ -475,3 +476,23 @@ void loop_Run_Read_Speed()//every miliSec
 }
 
 */
+
+
+void Combined_Motor_Driver_Mode(TimerMotors_t _motorId, MOTDRIVER_MODE New_Mode)// New_mode: Current or Voltage
+{
+    if(MotorDriverResponse[_motorId].DriverType == CombinrdMotDriver)
+    {
+        MotorDriverResponse[_motorId].DriverMode = New_Mode;
+        //need to do all the configuration acording to the new mode
+        //The STEP_MODE register includes the CM_VM bit (sets the method between voltage and current mode)
+       FPGA_SetMotMicroStep(_motorId);
+    }
+}
+void Combined_dispenser_Driver_Mode(uint8_t Dispenser_ID, MOTDRIVER_MODE New_Mode)// New_mode: Current or Voltage
+{
+    assert(Dispenser_ID < MAX_DISPENSER_NUM);
+
+    Combined_Motor_Driver_Mode(Dispenser_ID + 5, New_Mode);//dispenser ID -> motor id
+}
+
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index 894f60c09..c2c124da5 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -101,7 +101,8 @@ typedef struct
   uint32_t Status;
   uint8_t MicroSteps;
   uint32_t ADC; //read the Adc in order to know the motor driver type L6470/ L6472 / powerSTEP01
-  uint32_t DriverType; //current or voltage mode
+  MOTDRIVER_TYPE DriverType; //current or voltage mode
+  MOTDRIVER_MODE DriverMode; //current or voltage mode in powerSTEP01
   bool Busy;
 
 }MotorDriverResponseStruct;
@@ -214,4 +215,7 @@ uint32_t MotorMoveToStopper (TimerMotors_t _motorId,bool direction, uint32_t Spe
 uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callback,uint32_t timeout);
 
 uint32_t MotorGoTo(TimerMotors_t _motorIdn, uint32_t Steps);
+
+void Combined_Motor_Driver_Mode(TimerMotors_t _motorId, MOTDRIVER_MODE New_Mode);// New_mode: Current or Voltage
+void Combined_dispenser_Driver_Mode(uint8_t Dispenser_ID, MOTDRIVER_MODE New_Mode);// New_mode: Current or Voltage
 #endif /* DRIVERS_MOTOR_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
index 4cfb0704b..2fd26552b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
@@ -1251,7 +1251,14 @@ uint32_t Get_Param(byte param)//OK
     //while(SSIBusy(SSI2_BASE)){};
    // while(Check_SPI_Busy() == BUSY){};
     /* Send GetParam operation code to dSPIN */
+
+    /*if((param == x_CONFIG) && (MotorDriverResponse[_motorId].DriverType == CombinrdMotDriver))
+    {
+        temp = Write_Byte((uint8_t)x_POWERSTEP01_CONFIG | (uint8_t)param);
+    }
+    else*/
     temp = Write_Byte((uint8_t)x_GET_PARAM | (uint8_t)param);
+
     /* MSB which should be 0 */
     rx |= (temp & 0xFF) << 24;
     switch (param)
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index cb1be7fa5..eefac2854 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -349,6 +349,9 @@ uint32_t MillisecLoop(uint32_t tick)
     //gather Motor data from FPGA
     //ROM_IntMasterDisable();
 */
+
+
+
 #ifndef EVALUATION_BOARD
         FPGA_GetBusy();  //load the busy motor information to all motors
         FPGA_Read_LS_Safty_Ind_Reg();
@@ -501,6 +504,8 @@ uint32_t MillisecLowLoop(uint32_t tick)
     //gather Motor data from FPGA
     //ROM_IntMasterDisable();
 
+    //Screw_ENC_Velocity_to_DAC(); - for testing the screw enc
+
     if (Ten_msTick)
     {
         //Speed_Data = Calculate_Speed_Sensor_Velocity();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 265c751c6..3fb6f3af2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -56,7 +56,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
         MotorsCfg[Motor_i].pulseperround = request->pulseperround;
         MotorsCfg[Motor_i].pulleyradius = request->pulleyradius;
         MotorsCfg[Motor_i].configword = request->configword;
-        if(MotorDriverResponse[Motor_i].DriverType == VoltageCombinedMotDriver)
+        if(MotorDriverResponse[Motor_i].DriverType == CombinrdMotDriver)
         {
             MotorsCfg[Motor_i].directionthreadwize = !(request->directionthreadwize);//PowerSTEP01
         }
-- 
cgit v1.3.1


From b525fbcad1ac8c7126caa82ec8458ffbb6284384 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Thu, 30 May 2019 17:33:20 +0300
Subject: Version 1.4.0.4: Improved memory handling, handles SW crash after a
 job failure

---
 .../Embedded/Common/SWUpdate/FileSystem.c          | 14 +++---
 .../Embedded/Common/SWUpdate/FirmwareUpgrade.c     |  3 +-
 .../Embedded_SW/Embedded/Common/SW_Info/SW_Info.c  |  2 +-
 .../Embedded_SW/Embedded/Common/Utilities/Utils.c  | 14 +++---
 .../Embedded/Common/report/distributor.c           |  3 +-
 .../Embedded/Common/report/reportInit.c            |  6 +--
 .../Embedded/Communication/CommunicationTask.c     | 11 +++++
 .../Embedded_SW/Embedded/Communication/Container.c | 42 ++++++++++-------
 Software/Embedded_SW/Embedded/Embedded.cfg         | 52 +++++-----------------
 Software/Embedded_SW/Embedded/Main.c               |  4 +-
 .../Embedded/Modules/AlarmHandling/AlarmHandling.c | 12 ++++-
 .../Embedded/Modules/Diagnostics/Diagnostics.c     |  2 +-
 .../Embedded_SW/Embedded/Modules/General/process.c | 50 ++++++++++++---------
 .../Embedded_SW/Embedded/Modules/IDS/IDS_maint.c   |  2 +-
 .../Embedded_SW/Embedded/Modules/IDS/IDS_print.c   |  4 ++
 .../Embedded/Modules/Thread/Thread_print.c         |  5 ++-
 .../Embedded/StateMachines/Printing/JobSTM.c       |  3 +-
 .../Embedded/StateMachines/Printing/PrintingSTM.c  | 18 +++++++-
 18 files changed, 140 insertions(+), 107 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index 6c0262f66..c424320ff 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -109,7 +109,7 @@ uint32_t    FileUploadRequestFunc(MessageContainer* requestContainer)
             }
             else
             {
-                free (UploadFileHandle);
+                my_free (UploadFileHandle);
                 UploadFileHandle = 0;
             }
 
@@ -172,7 +172,8 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
             {
                 REPORT_MSG (FileReceivedLength,"file upload ended successfully");
                 f_close(ReceivedFileHandle);
-                free (UploadFileHandle);
+                my_free (UploadFileHandle);
+                UploadFileHandle = 0;
                 FileReceivedLength = 0;
                 FileDone = true;
             }
@@ -182,7 +183,8 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
                 {
                     REPORT_MSG (FileReceivedLength,"file upload too much data!");
                     f_close(ReceivedFileHandle);
-                    free (UploadFileHandle);
+                    my_free (UploadFileHandle);
+                    UploadFileHandle = 0;
                     FileReceivedLength = 0;
                     FileDone = true;
                 }
@@ -206,7 +208,7 @@ uint32_t    FileChunkUploadRequestFunc(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);
-    my_free(request->buffer.data);
+    //my_free(request->buffer.data);
     file_chunk_upload_request__free_unpacked(request,NULL);
     my_free(responseContainer.data.data);
     SendCharsWithType(container_buffer, container_size,MESSAGE_TYPE__FileChunkUploadResponse);
@@ -301,7 +303,7 @@ uint32_t    FileChunkDownloadRequestFunc(MessageContainer* requestContainer)
             {
                 REPORT_MSG (FileSentLength,"file download ended successfully");
                 f_close(SentFileHandle);
-                free (DownloadFileHandle);
+                my_free (DownloadFileHandle);
                 FileSentLength = 0;
             }
             else
@@ -310,7 +312,7 @@ uint32_t    FileChunkDownloadRequestFunc(MessageContainer* requestContainer)
                 {
                     REPORT_MSG (FileSentLength,"file download too much data!");
                     f_close(SentFileHandle);
-                    free (DownloadFileHandle);
+                    my_free (DownloadFileHandle);
                     FileSentLength = 0;
                 }
             }
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
index 01a30c21a..3bae023db 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
@@ -102,7 +102,8 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
 
     ustrncpy (ActivateToken, requestContainer->token,36);
 
-    strcpy (SWUpgradePath,request->path);
+    strncpy (SWUpgradePath,request->path,99);
+    SWUpgradePath[99] = NULL;
     strcat(SWUpgradePath,"/package.cfg");
 
     Fresult = FileRead(SWUpgradePath, &Bytes, &buffer);
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 bee894585..05864303f 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,4,0,3};
+TangoVersion_t _gTangoVersion = {1,4,0,4};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
index 341a43704..3871acb94 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
@@ -15,12 +15,12 @@
 
 //*****************************************************************************
 
-#define MAX_MEM_LOG 100
+/*#define MAX_MEM_LOG 100
 int freeIndex=0,malloc_index=0;
 uint32_t malloc_size[MAX_MEM_LOG+1];
 uint32_t malloc_time[MAX_MEM_LOG+1];
 void * malloc_addr[MAX_MEM_LOG+1];
-void * free_addr[MAX_MEM_LOG+1];
+void * free_addr[MAX_MEM_LOG+1];*/
 //uint32_t total_allocated = 0;
 void  *my_malloc(size_t _size)
 {
@@ -43,14 +43,14 @@ void  *my_malloc(size_t _size)
         malloc_time[malloc_index] = msec_millisecondCounter;
     }
     */
-    if ((addr)&&(_size>400))
+    /*if ((addr)&&(_size>400))
     {
         malloc_addr[malloc_index] = addr;
         malloc_size[malloc_index] = _size;
         malloc_time[malloc_index] = msec_millisecondCounter;
         if (malloc_index++>=MAX_MEM_LOG)
             malloc_index = 0;
-    }
+    }*/
     return addr;
 }
 int allocated_size = 0;
@@ -80,9 +80,9 @@ void   my_free(void *_ptr)
 //            allocated_size+=malloc_size[i];
  *
  */
-        free_addr[freeIndex] = _ptr;
-        if (freeIndex++>=MAX_MEM_LOG)
-            freeIndex = 0;
+//        free_addr[freeIndex] = _ptr;
+//        if (freeIndex++>=MAX_MEM_LOG)
+//            freeIndex = 0;
 
     }
 }
diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c
index e4ab5fa36..d485abb70 100644
--- a/Software/Embedded_SW/Embedded/Common/report/distributor.c
+++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c
@@ -728,7 +728,8 @@ static void messageDistribute(char *msg,
             Dist_Table[DistTableEntry].dest[index].function(msg,FileName,LineNumber,errorCode,parameter1,parameter2);
     }
     */
-    strcpy (reportmsg,msg);
+    strncpy (reportmsg,msg,250);
+    reportmsg[251] = NULL;
 
     if (ReportFunc1 != NULL)
         ReportFunc1(reportmsg,  FileName,LineNumber,errorCode,Severity, parameter);
diff --git a/Software/Embedded_SW/Embedded/Common/report/reportInit.c b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
index 0d5836acf..8a39e8fd4 100644
--- a/Software/Embedded_SW/Embedded/Common/report/reportInit.c
+++ b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
@@ -101,7 +101,7 @@ int ReportResponseFunc(char *message,       /* The formatted message
     response.message = message;
         responseContainer = /*Report*/createContainer(MESSAGE_TYPE__StartDebugLogResponse, protobufToken, false, &response, &start_debug_log_response__pack, &start_debug_log_response__get_packed_size);
         responseContainer.continuous = true;
-        if (responseContainer.data.data)
+        //if (responseContainer.data.data)
         {
             uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
             if (container_buffer)
@@ -111,13 +111,13 @@ int ReportResponseFunc(char *message,       /* The formatted message
                 if (SendCharsWithType(container_buffer, container_size,MESSAGE_TYPE__StartDebugLogResponse) == false) //comm tx mailbox full
                 {
                     //CommunicationMailboxFlush();
-                    //protobufToken[0] = 0;
+                    protobufToken[0] = 0;
                     my_free(container_buffer);
                 }
             }
             my_free(responseContainer.data.data);
         }
-
+        //Task_sleep(5);
     return OK;
 
 }
diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index 23f193b25..27780a9e3 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -201,7 +201,12 @@ int32_t SetCommunicationPath(bool UARTorUSB)
     CommType = UARTorUSB;
     return OK;
 }
+/*#define  MAX_CONT_LOG 199
 
+uint16_t cSendSize[MAX_CONT_LOG+1] = {0};
+uint32_t cSendTime[MAX_CONT_LOG+1] = {0};
+uint16_t cSendindex = 0;
+*/
 /******************************************************************************
  *  ======== communicationTask ========
  *  Task for this function is created statically. See the project's .cfg file.
@@ -230,6 +235,12 @@ void communicationTxTask(UArg arg0, UArg arg1)
                 else if (CommType == isUART)
                     Uart_Tx(CommTxMessage.Buff, CommTxMessage.msgSize);
         }
+/*        cSendSize[cSendindex] = CommTxMessage.msgSize;
+        cSendTime[cSendindex] = msec_millisecondCounter;
+
+        if (cSendindex++>=MAX_CONT_LOG)
+            cSendindex = 0;
+*/
         if (diagnosticscontainer_buffer == CommTxMessage.Buff)
             diagnosticscontainer_buffer = 0;
         my_free(CommTxMessage.Buff);
diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index dd89c7b15..89deb2b0b 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -48,16 +48,16 @@
 #include "Common/report/report.h"
 #include "Connection.h"
 
-#define  MAX_CONT_LOG 100
+#define  MAX_CONT_LOG 199
 
-uint16_t TxmsgId[MAX_CONT_LOG+1] = {0};
+/*uint16_t TxmsgId[MAX_CONT_LOG+1] = {0};
 uint16_t TxLength[MAX_CONT_LOG+1] = {0};
 uint32_t TxAddr[MAX_CONT_LOG+1] = {0};
 uint16_t Txindex = 0;
 uint32_t msgId[MAX_CONT_LOG+1] = {0};
 uint32_t Length[MAX_CONT_LOG+1] = {0};
 uint32_t DataLength[MAX_CONT_LOG+1] = {0};
-byte index = 0;
+byte RxIndex = 0;*/
 
 
 MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*))
@@ -79,7 +79,7 @@ MessageContainer createContainer(MessageType type, char* token, protobuf_c_boole
         container.data.data = response_buffer;
         container.data.len = response_size;
 
-    if (SuspendLargeMessages == true)
+    /*if (SuspendLargeMessages == true)
     {
 //        Report("EndJobMessage",__FILE__,__LINE__,(int)type,RpWarning,(int)response_size,0);
         TxmsgId[Txindex] = type;
@@ -87,7 +87,7 @@ MessageContainer createContainer(MessageType type, char* token, protobuf_c_boole
         TxAddr[Txindex] = msec_millisecondCounter;
         if (Txindex++>=MAX_CONT_LOG)
             Txindex = 0;
-    }
+    }*/
 
     //free(response);
     return container;
@@ -131,18 +131,17 @@ void receive_callback(char* buffer, size_t length)
      MessageContainer* requestContainer = message_container__unpack(NULL, length, (uint8_t*)buffer);
      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();
         REPORT_MSG(requestContainer->type,"Message received");
     }
     KeepAliveOneSecondCounter = 0;
-     msgId[index] = requestContainer->type;
-     Length[index] = length;
-     DataLength[index] = msec_millisecondCounter;
-     if (index++>=MAX_CONT_LOG)
-         index = 0;
+     /*msgId[RxIndex] = requestContainer->type;
+     Length[RxIndex] = length;
+     DataLength[RxIndex] = msec_millisecondCounter;
+     if (RxIndex++>=MAX_CONT_LOG)
+         RxIndex = 0;*/
      switch(requestContainer->type)
      {
          case MESSAGE_TYPE__CalculateRequest:
@@ -433,13 +432,19 @@ void receive_callback(char* buffer, size_t length)
      message_container__free_unpacked(requestContainer, NULL);
 
 }
-bool SendResult,KeepSendResult = true;
+/*bool SendResult,KeepSendResult = true;
 uint16_t SendmsgId[MAX_CONT_LOG+1] = {0};
 uint16_t SendSize[MAX_CONT_LOG+1] = {0};
 uint32_t SendTime[MAX_CONT_LOG+1] = {0};
-uint16_t Sendindex = 0;
+bool Sendresult[MAX_CONT_LOG+1] = {0};
+uint16_t Sendindex = 0;*/
 bool SendChars(char* buffer,size_t length)
 {
+/*    SendmsgId[Sendindex] = 0xFFFF;
+    SendSize[Sendindex] = length;
+    SendTime[Sendindex] = msec_millisecondCounter;
+    if (Sendindex++>=MAX_CONT_LOG)
+        Sendindex = 0;*/
     SendResult = CommunicationTaskSendMessage(buffer, length);
     if (SendResult == false)
         KeepSendResult = false;
@@ -447,12 +452,15 @@ bool SendChars(char* buffer,size_t length)
 }
 bool SendCharsWithType(char* buffer,size_t length,MessageType type)
 {
-    SendmsgId[Sendindex] = type;
-    SendSize[Sendindex] = length;
-    SendTime[Sendindex] = msec_millisecondCounter;
+//    SendmsgId[Sendindex] = type;
+//    SendSize[Sendindex] = length;
+//    SendTime[Sendindex] = msec_millisecondCounter;
+
+    SendResult = CommunicationTaskSendMessage(buffer, length);
+
+//    Sendresult[Sendindex] = SendResult;
     if (Sendindex++>=MAX_CONT_LOG)
         Sendindex = 0;
-    SendResult = CommunicationTaskSendMessage(buffer, length);
     if (SendResult == false)
         KeepSendResult = false;
     return SendResult;
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index 5dd991512..c50a0057a 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -5,19 +5,22 @@ var SysMin = xdc.useModule('xdc.runtime.SysMin');
 var System = xdc.useModule('xdc.runtime.System');
 var Error = xdc.useModule('xdc.runtime.Error');
 var ti_sysbios_hal_Hwi = xdc.useModule('ti.sysbios.hal.Hwi');
-var Memory = xdc.useModule('xdc.runtime.Memory');
 var Timestamp = xdc.useModule('xdc.runtime.Timestamp');
 var TimestampProvider = xdc.useModule('ti.sysbios.family.arm.lm4.TimestampProvider');
 var SyncGeneric = xdc.useModule('xdc.runtime.knl.SyncGeneric');
 var Mailbox = xdc.useModule('ti.sysbios.knl.Mailbox');
-var HeapStd = xdc.useModule('xdc.runtime.HeapStd');
+//var HeapStd = xdc.useModule('xdc.runtime.HeapStd');
 var GIO = xdc.useModule('ti.sysbios.io.GIO');
 var Semaphore = xdc.useModule('ti.sysbios.knl.Semaphore');
 var Task = xdc.useModule('ti.sysbios.knl.Task');
+//var HeapMem = xdc.useModule('ti.sysbios.heaps.HeapMem');
+var HeapTrack = xdc.useModule('ti.sysbios.heaps.HeapTrack');
+//var Memory = xdc.useModule('xdc.runtime.Memory');
 
-BIOS.heapSize = 30767;   // bios heapmem
-//Memory.defaultHeapSize = 48767;
-Program.heap = 50000;  //sysmem
+BIOS.heapSize = 50000;   // bios heapmem
+//Memory.defaultHeapSize = 20000;
+//Program.heap = 40000;
+//Program.stack = 4096;
 
 Clock.timerId = 7;
 
@@ -27,15 +30,7 @@ Program.global.adcHwi = Hwi.create(30, "&ADC0SS0Handler", hwi0Params);
 var hwi1Params = new Hwi.Params();
 hwi1Params.instance.name = "sysTick";
 Program.global.sysTick = Hwi.create(15, "&SysTickHandler", hwi1Params);
-/*var hwi2Params = new Hwi.Params();
-hwi2Params.instance.name = "UART0";
-Program.global.uart0 = Hwi.create(21, "&USB0Handler", hwi2Params);
-*/
-/*
-var hwi21Params = new Hwi.Params();
-hwi21Params.instance.name = "portpint";
-Program.global.portpint = Hwi.create(92, "&PortPIntHandler", hwi21Params);
-*/
+
 var hwi13Params = new Hwi.Params();
 hwi13Params.instance.name = "timer0";
 hwi13Params.priority = 128;
@@ -51,10 +46,6 @@ hwi15Params.arg = 2;
 hwi15Params.priority = 160;
 Program.global.timer2 = Hwi.create(39, "&EightMilliSecondHeatersInterrupt", hwi15Params);
 
-/*var hwi5Params = new Hwi.Params();
-hwi5Params.instance.name = "usb0";
-Program.global.usb0 = Hwi.create(58, "&USBCDCD_hwiHandler", hwi5Params);*/
-
 var hwi6Params = new Hwi.Params();
 hwi6Params.instance.name = "timer1";
 hwi6Params.priority = 128;
@@ -66,33 +57,11 @@ hwi17Params.arg = 3;
 hwi17Params.priority = 96;
 Program.global.timer3 = Hwi.create(51, "&ScrewTimerInterrupt", hwi17Params);
 
-/*
-var semaphore1Params = new Semaphore.Params();
-semaphore1Params.instance.name = "messageSem";
-semaphore1Params.mode = Semaphore.Mode_BINARY;
-Program.global.messageSem = Semaphore.create(null, semaphore1Params);
-
-var semaphore2Params = new Semaphore.Params();
-semaphore2Params.instance.name = "selfCheckSem";
-semaphore2Params.mode = Semaphore.Mode_BINARY;
-Program.global.selfCheckSem = Semaphore.create(null, semaphore2Params);
-
-*/
 var semaphore4Params = new Semaphore.Params();
 semaphore4Params.instance.name = "initConnectionSem";
 semaphore4Params.mode = Semaphore.Mode_BINARY;
 Program.global.initConnectionSem = Semaphore.create(null, semaphore4Params);
-/*
-var semaphore5Params = new Semaphore.Params();
-semaphore5Params.instance.name = "uart7Sem";
-semaphore5Params.mode = Semaphore.Mode_BINARY;
-Program.global.uart7Sem = Semaphore.create(null, semaphore5Params);
-
-var semaphore6Params = new Semaphore.Params();
-semaphore6Params.instance.name = "ethernetSem";
-semaphore6Params.mode = Semaphore.Mode_BINARY;
-Program.global.ethernetSem = Semaphore.create(null, semaphore6Params);
-*/
+
 var semaphore0Params = new Semaphore.Params();
 semaphore0Params.instance.name = "adcResultSem";
 semaphore0Params.mode = Semaphore.Mode_BINARY;
@@ -267,4 +236,3 @@ Program.gen.debuggerFiles = false;
 Task.defaultStackSize = 1024;
 Task.idleTaskVitalTaskFlag = false;
 Task.enableIdleTask = false;
-Program.stack = 4096;
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 5b6066a5f..36825d232 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -139,7 +139,7 @@ Void errHook(Error_Block *eb)
         if (Fresult == FR_OK)
         {
             f_lseek(FileHandle, FileHandle->fsize);
-            strcpy(File,site->file);
+            strncpy(File,site->file,49);
             len = usnprintf(message, 80, "\r\n%s %s",__DATE__, __TIME__);
             Fresult = f_write(FileHandle,message,len,&Bytes );
             /* print user supplied error code */
@@ -169,8 +169,10 @@ Void errHook(Error_Block *eb)
         Task_sleep (200);
         my_free(FileHandle);
     }
+#ifdef WATCHDOG
     //Power_Reset();
     SysCtlReset();
+#endif
 }
 
 //*****************************************************************************
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 73532a7d2..a4e1379c5 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -1051,6 +1051,12 @@ void SendEventNotifications(void)
         if (AlarmState[i].Status == true)
         {
             EventsResponse.n_events++;
+            if ((AlarmState[i].EventPtr == NULL) ||(AlarmState[i].EventPtr->base.descriptor->sizeof_message != 24))
+            {
+                LOG_ERROR(i,"bad pointer for event");
+                EventsResponse.n_events--;
+                AlarmState[i].Status = false;
+            }
         }
     }
 
@@ -1098,10 +1104,12 @@ void SendEventNotifications(void)
             my_free(container_buffer);
         }
     }
+    else
+        AlarmHandlingStop();
     if (EventsResponse.events)
         my_free(EventsResponse.events);
-    if (responseContainer.data.data)
-        my_free(responseContainer.data.data);
+    //if (responseContainer.data.data)
+    //    my_free(responseContainer.data.data);
 }
 uint32_t ResolveEventRequestFunc(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index b89fa43ed..a3b2022e9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -423,7 +423,7 @@ int j=0;
 MessageContainer diagnosticsresponseContainer;
 uint8_t diagnostics_response_buffer[3500];
 uint8_t *diagnostics_response_ptr = diagnostics_response_buffer;
-uint8_t* diagnosticscontainer_buffer=0;
+char * diagnosticscontainer_buffer=0;
 int LargeMessagesD = 0;
 
 void SendDiagnostics(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 277891861..b0351b4ff 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -235,33 +235,41 @@ uint32_t ProcessParamsInit(void)
     UploadProcessParametersRequest* request;
 
     FileHandle = my_malloc(sizeof(FIL));
-    Fresult = FileOpen(ProcessParamsConfigPath, &Bytes, FileHandle);
-    if (Fresult == FR_OK)
+    if (FileHandle)
     {
-        buffer = my_malloc (Bytes);
-        if (buffer)
+        Fresult = FileOpen(ProcessParamsConfigPath, &Bytes, FileHandle);
+        if (Fresult == FR_OK)
         {
-            for (i=0;i<=(Bytes/100);i++)
+            buffer = my_malloc (Bytes);
+            if (buffer)
             {
-                Fresult = f_read(FileHandle,&buffer[i*100],100,&j );
-                k+=j;
-            }
-            if (k!=Bytes)
-                LOG_ERROR(k,"File read error");
+                for (i=0;i<=(Bytes/100);i++)
+                {
+                    Fresult = f_read(FileHandle,&buffer[i*100],100,&j );
+                    k+=j;
+                }
+                if (k!=Bytes)
+                    LOG_ERROR(k,"File read error");
 
-           request = upload_process_parameters_request__unpack(NULL, Bytes, buffer);
-    //           ProcessParameters*  ProcessParams = process_parameters__unpack(NULL, Bytes, buffer);
-           if (request)
-           {
-               ProcessParameters*  ProcessParams = request->processparameters;
-               Fresult = HandleProcessParameters(ProcessParams);
-               //memcpy (&ProcessParametersKeep,ProcessParams,sizeof(ProcessParameters));
-               upload_process_parameters_request__free_unpacked(request,NULL);
-           }
-		   free (buffer);
+               request = upload_process_parameters_request__unpack(NULL, Bytes, buffer);
+        //           ProcessParameters*  ProcessParams = process_parameters__unpack(NULL, Bytes, buffer);
+               if (request)
+               {
+                   ProcessParameters*  ProcessParams = request->processparameters;
+                   Fresult = HandleProcessParameters(ProcessParams);
+                   //memcpy (&ProcessParametersKeep,ProcessParams,sizeof(ProcessParameters));
+                   upload_process_parameters_request__free_unpacked(request,NULL);
+               }
+               my_free (buffer);
+            }
+            f_close(FileHandle);
+        }
+        else
+        {
+            LOG_ERROR(Fresult,"File open error");
         }
+        my_free (FileHandle);
     }
-    f_close(FileHandle);
 
     return Fresult;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 0907c4a67..e9efd97df 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -207,7 +207,7 @@ uint32_t IDS_StopHomeDispenser (uint32_t DispenserId)
     Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
     if (DispenserId == LUBRICANT_DISPENSER)
     {
-        Lubricant_2Way_Valve (START);
+        Lubricant_2Way_Valve (STOP);
     }
 
     MotorSetMicroStep(MotorId, MotorsCfg[MotorId].microstep);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index aea16bb60..f7cf38ba8 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -475,12 +475,16 @@ c.  Go to step 2.a x Segment.BrushStopsCount.
 
      if (SegmentPtr)
          my_free(SegmentPtr);
+     SegmentPtr = NULL;
      if (BrushStopPtr)
          my_free(BrushStopPtr);
+     BrushStopPtr = NULL;
      if (Segment != NULL)
              job_description_file_segment__free_unpacked(Segment,NULL);
+     Segment = NULL;
      if (BrushStop != NULL)
          job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+     BrushStop = NULL;
      Fresult = f_close(FileHandle);
      GeneralHwReady = true;
      REPORT_MSG (n_segments, "Finished checking the file");
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index a285d4194..4743008e5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -114,7 +114,10 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
 
 
   if (Current_Read < Previous_Read)
+  {
     Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1;
+    Report("Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
+  }
   else
     Time_Pass = Current_Read - Previous_Read;
 
@@ -771,7 +774,7 @@ 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;
-        Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
+        //Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
 
         for (i = 0; i <= MAX_CONTROL_SAMPLES; i++)
             MotorSpeedSamples[Motor_i][i] = motor_speed;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index f5ae89368..44dd09030 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -860,7 +860,8 @@ void AbortJob(char *Msg)
 
         Message.messageId = Abort;
         PrtMessage->messageId = PrintSystemFailure;
-        strcpy(PrtMessage->messageData,Msg);
+        strncpy(PrtMessage->messageData,Msg,99);
+        //PrtMessage->messageData[99] = NULL;
         Message.msglen = 10;
         if (JobmsgQ != NULL)
             Mailbox_post(JobmsgQ , &Message, BIOS_NO_WAIT);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 2aa260e9f..484dc9e7e 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -122,9 +122,15 @@ FRESULT CloseJobFile()
     my_free (JobRequestFileHandle);
     JobRequestFileHandle = NULL;
     if (BrushStopPtr)
+    {
         my_free(BrushStopPtr);
+        BrushStopPtr = NULL;
+    }
     if (SegmentPtr)
+    {
         my_free(SegmentPtr);
+        SegmentPtr = NULL;
+    }
     REPORT_MSG(Fresult,"CloseJobFile");
 
     return Fresult;
@@ -145,7 +151,10 @@ JobDescriptionFileSegment *GetNextSegmentFromJobFile()
         {
             readbBytes += ImmediateRead;
             if (SegmentPtr)
+            {
                 my_free(SegmentPtr);
+                SegmentPtr = NULL;
+            }
             SegmentPtr = my_malloc (SegmentSize);
             if (SegmentPtr)
             {
@@ -158,6 +167,7 @@ JobDescriptionFileSegment *GetNextSegmentFromJobFile()
                 }
             }// read segment data
             my_free(SegmentPtr);
+            SegmentPtr = NULL;
         }//segment malloc
         else
         {
@@ -181,6 +191,7 @@ void FreeSegmentFileData(JobDescriptionFileSegment *Segment)
     Segment = NULL;
     if (SegmentPtr)
         my_free(SegmentPtr);
+    SegmentPtr = NULL;
 }
 JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
 {
@@ -196,7 +207,10 @@ JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
     {
         readbBytes += ImmediateRead;
         if (BrushStopPtr)
+        {
             my_free(BrushStopPtr);
+            BrushStopPtr = NULL;
+        }
 
         BrushStopPtr = my_malloc (BrushStopSize);
         if (BrushStopPtr)
@@ -213,6 +227,7 @@ JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
                 //status = ERROR;
             }
             my_free(BrushStopPtr);
+            BrushStopPtr = NULL;
         }//brushstop size read ok
         else
         {
@@ -237,6 +252,7 @@ void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop)
     BrushStop = NULL;
     if (BrushStopPtr)
         my_free(BrushStopPtr);
+    BrushStopPtr = NULL;
 }
 /************************************************************************************************************************************/
 /* this function is for development initial stages. it analyses the hardware configuration to determine which modules are operational
@@ -546,7 +562,7 @@ uint32_t EndState(void *JobDetails, char *Message)
 {
     //ROM_IntMasterDisable();
     //SuspendLargeMessages = true;
-    LOG_ERROR(2,"SuspendLargeMessages EndState");
+    //LOG_ERROR(2,"SuspendLargeMessages EndState");
     //DiagnosticsStop();
     if (Configured[Module_Winder])
     {
-- 
cgit v1.3.1


From 002f8f76ede07a2b7b444a8e03f9f172b2fb952e Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Sun, 2 Jun 2019 16:46:26 +0300
Subject: Screw is homing at the end of the job. IDS - handle small speed

---
 .../Embedded_SW/Embedded/Drivers/Motors/Motor.h    |  2 +-
 .../Embedded_SW/Embedded/Modules/IDS/IDS_print.c   |  4 +-
 .../Embedded/Modules/Thread/Thread_Winder.c        | 60 ++++++++++++++++++++--
 3 files changed, 58 insertions(+), 8 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index a11835205..d4454136b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -22,7 +22,7 @@
 
 #define NUM_OF_MOTORS  (HARDWARE_MOTOR_TYPE__MOTO_RLOADING + 1) // TODO After the integration with mulbery change to:
 //#define NUM_OF_MOTORS  HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1
-
+#define MINIMAL_MOTOR_SPEED 0.2
 
 //typedef enum
 //{
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index f7cf38ba8..0b54658ad 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -829,7 +829,7 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
                                  DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
                                  MotorsCfg[HW_Motor_Id].microstep);
                      }
-                     if ((int) segmentfirst_speed > 0)
+                     if (segmentfirst_speed > MINIMAL_MOTOR_SPEED)
                      {
                          segmentfirst_speed *= (100+WFCF);
                          segmentfirst_speed /= 100;
@@ -1057,7 +1057,7 @@ void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
                         DispenserId, Dispensers[Dispenser_i]->nanoliterperpulse,
                         MotorsCfg[HW_Motor_Id].microstep);
             }
-            if ((int) segmentfirst_speed > 0)
+            if (segmentfirst_speed > MINIMAL_MOTOR_SPEED)
             {
                 DispenserSegmentReady[DispenserId] = false;
                 //Control3WayValvesWithCallback (DispenserId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index a68995168..82f96c497 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -46,7 +46,7 @@ uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of ru
 double WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION];
 uint16_t WinderMotorSpeedCounter = 0;
 bool     WinderMotorSpeedRollOver = false;
-#define DEFAULT_SCREW_SPEED 1400
+#define DEFAULT_SCREW_SPEED 1200
 double   ScrewSpeed = DEFAULT_SCREW_SPEED;
 double   ScrewRunningTime = 0;
 uint32_t ScrewNumberOfSteps = 0;     //holds the current number of steps for the next screw run - will be used to build the cone
@@ -315,7 +315,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
     tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
     //ROM_IntMasterDisable();
-    tempScrewSpeed = DEFAULT_SCREW_SPEED;
+    tempScrewSpeed = ScrewSpeed;
 
     CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
 
@@ -325,7 +325,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     if ((ScrewRunningTime != temp)||(ScrewSpeed != tempScrewSpeed))
     {
         ScrewSpeed = tempScrewSpeed;
-        ScrewSpeed = DEFAULT_SCREW_SPEED;
+        //ScrewSpeed = DEFAULT_SCREW_SPEED;
         ScrewRunningTime = temp;//(SYS_CLK_FREQ*Steps)/ScrewSpeed;
         //ROM_IntMasterEnable();
         //usnprintf(TempScrewStr, 100, "Winder: Horizon,Rotation, PPR, RPP{ %d, %d ,%d, %d} ",(int)screw_horizontal_speed,(int)RotationsPerSecond,(int)InternalWinderCfg.NumberOfRotationPerPassage,(int)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround);
@@ -364,12 +364,12 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
     if (SegmentId == 0) // do all this only in the beginning of the job. do not touch after that (assuming spool does not change mid job)
     {
         ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);
-
+/*
         //     * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec)
         //     * calculate
         //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
         //     * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation.
-        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
         ScrewNumberOfSteps -= 100;
         screw_horizontal_speed = ScrewNumberOfSteps /  InternalWinderCfg.NumberOfRotationPerPassage;
         // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
@@ -384,7 +384,25 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
         //REPORT_MSG(segmentfirst_speed,ScrewStr);
         Report(ScrewStr,__FILE__,__LINE__,RotationsPerSecond,RpWarning,ScrewSpeed,0);
         SendJobProgress(0.0,0,false, ScrewStr);
+*/
+        //     * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec)
+        //     * calculate
+        //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
+        //     * calculation input: traverse length in pulses, number of rotations per traverse ==> length of traverse per rotation.
+        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        screw_horizontal_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;  //steps per winder cycle
+        // calculation input#2: number of rotations per second - speed/winder diameter.  WE USE HERE 39 MM AS ATHE WINDER DIAMETER - SOME AVERAGE BETWEEN EMPTY AND FULL
+        RotationsPerSecond =  (dyeingspeed*10.0)/(19.50*PI);
+        // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
+        ScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+        usnprintf(ScrewStr, 100, "SCREW speed Rot/sec %d horizon %d pulses %d",(int)RotationsPerSecond*100,(int)screw_horizontal_speed*100,(int)ScrewSpeed);
+        //REPORT_MSG(segmentfirst_speed,ScrewStr);
+        Report(ScrewStr,__FILE__,__LINE__,RotationsPerSecond,RpWarning,ScrewSpeed,0);
+        SendJobProgress(0.0,0,false, ScrewStr);
+        ScrewNumberOfSteps -= 100;
 
+
+        ///////////////////////
         CurrentControlledSpeed[SCREW_MOTOR] = ScrewSpeed;
         OriginalMotorSpd_2PPS[SCREW_MOTOR] = ScrewSpeed;
         WinderReferenceSpeed = OriginalMotorSpd_2PPS[WINDER_MOTOR];
@@ -419,6 +437,38 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
 
     return OK;
 }
+uint32_t ScrewDTSControlId = 0xFF;
+uint32_t ScrewDTSCallback(uint32_t deviceID, uint32_t BusyFlag)
+{
+    REPORT_MSG ((int)msec_millisecondCounter,"ScrewDTSCallback called");
+    SafeRemoveControlCallback(ScrewDTSControlId, ScrewDTSCallback);
+
+    if (ScrewControlId != 0xFF)
+    {
+        RemoveControlCallback(ScrewControlId,Screw100msecDirectionChange);
+        ScrewControlId = 0xFF;
+    }
+    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);
+    MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
+    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2,2000);
+
+
+    return OK;
+}
+uint32_t WinderDistanceToSpoolState(void )
+{
+    double DTS_Time = ((dryerbufferlength*100)/dyeingspeed)*1000;//distance to spool time in milliseconds
+    REPORT_MSG ((int)DTS_Time,"WinderDistanceToSpoolState");
+
+    ScrewDTSControlId = AddControlCallback(ScrewDTSCallback, DTS_Time-500,TemplateDataReadCBFunction,0,0,0);
+    REPORT_MSG ((int)msec_millisecondCounter,"ScrewDTSCallback start");
+
+    return OK;
+}
+
 uint32_t Winder_End(void)
 {
     //stop screw
-- 
cgit v1.3.1


From 2a0e5736df4a6514baeea815152528632c285478 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Tue, 4 Jun 2019 09:05:30 +0300
Subject: Version 1.4.0.7 Heaters PID on band, does not check motor status

---
 .../Embedded_SW/Embedded/Modules/Control/MillisecTask.c  |  7 ++-----
 .../Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c | 16 ++++++++--------
 .../Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c  | 14 +++++++++-----
 .../Scripts/Assemblies/Dryer/GPO_BLOWER_PWM_Precent_.cs  |  2 +-
 4 files changed, 20 insertions(+), 19 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Modules/Thread')

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index eefac2854..b5797e749 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -349,9 +349,6 @@ uint32_t MillisecLoop(uint32_t tick)
     //gather Motor data from FPGA
     //ROM_IntMasterDisable();
 */
-
-
-
 #ifndef EVALUATION_BOARD
         FPGA_GetBusy();  //load the busy motor information to all motors
         FPGA_Read_LS_Safty_Ind_Reg();
@@ -568,13 +565,13 @@ uint32_t MillisecLowLoop(uint32_t tick)
         DrawerFansStatus = temp & 0x1F;
         SystemFansStatus = temp & 0xE0;
         //KeepAliveOneSecondCall();
-        for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
+        /*for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
         {
             if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_SCREW)
                 continue;  //
             if (isMotorConfigured(Motor_i))
                 MotorGetStatusFromFPGA(Motor_i);
-        }
+        }*/
         if (!(OneMinute_Tick))
         {
             for (Heater_i = 0;Heater_i < NUM_OF_CURRENT_HEATERS;Heater_i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index c9b704aa3..88f61637c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -889,12 +889,11 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
         }
         */
 //        if ((readValue > (HeaterCmd[index].targettemperatue * AcHeatersLoweroperationLimit/1000))&&(readValue < (HeaterCmd[index].targettemperatue * AcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target
-        if ((readValue > (HeaterCmd[index].targettemperatue *  (100-HeaterControl[index].outputproportionalband))/100)&&(readValue < (HeaterCmd[index].targettemperatue *  (100+HeaterControl[index].outputproportionalband))/100))//read value within 0.5 percent from target
+        if    (   (readValue >  (HeaterCmd[index].targettemperatue * ((100-HeaterControl[index].outputproportionalband)/100)))
+              &&  (readValue < (HeaterCmd[index].targettemperatue *  ((100+HeaterControl[index].outputproportionalband)/100))))
         {
-//////////////////
             //InitialHeating = false;
             Report("AC PID Activating",__FILE__,__LINE__,readValue,RpWarning,(HeaterCmd[index].targettemperatue), 0);
-////////////////////////
             DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
             HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary, 0);
             HeatersControlStart();
@@ -931,8 +930,8 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                 //REPORT_MSG (readValue,"AC HEATER Under temperature");
             }
         }
-        else  //PID active*/
-        {
+        else  //PID active
+        {*/
             if ((readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100)))
             {
                 //disable PID outside band
@@ -1051,7 +1050,8 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                 }
 
         //if ((readValue > (HeaterCmd[index].targettemperatue * DcHeatersLoweroperationLimit/1000))&&(readValue < (HeaterCmd[index].targettemperatue * DcHeatersUpperoperationLimit/1000)))//read value within 0.5 percent from target
-        if ((readValue > (HeaterCmd[index].targettemperatue *  (100-HeaterControl[index].outputproportionalband))/100)&&(readValue < (HeaterCmd[index].targettemperatue *  (100+HeaterControl[index].outputproportionalband))/100))//read value within 0.5 percent from target
+        if    (   (readValue >  (HeaterCmd[index].targettemperatue * ((100-HeaterControl[index].outputproportionalband)/100)))
+              &&  (readValue < (HeaterCmd[index].targettemperatue *  ((100+HeaterControl[index].outputproportionalband)/100))))
         {
             Report("DC PID Activating",__FILE__,index,readValue,RpWarning,(HeaterCmd[index].targettemperatue), 0);
             //DCInitialHeating[index] = false;
@@ -1078,8 +1078,8 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
             }
 
         }
-        else ///pid active*/
-        {
+        else ///pid active
+        {*/
             //check only for the proportional band limits
             HeaterPIDConfig[index].m_mesuredParam = readValue;
             if ((readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100)))
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 82f96c497..2bbc93523 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -270,10 +270,10 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     //double calcsteps = (ScrewRunningTime/SYS_CLK_FREQ)*ScrewSpeed;
     //REPORT_MSG((abs(ScrewLocationRun[1] - ScrewLocationRun[0]), "Screw Run NumberOfSteps");
 //    usnprintf(ScrewStr, 100, "Winder Encoder: 0 0x%x 1 0x%x diff %d intent %d rot %d",ScrewLocationRun[0],ScrewLocationRun[1],abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,Rotations*10);
-    usnprintf(ScrewStr, 150, "Winder Encoder:id, diff, intended,  winderspeed,  rotation, speed, time, mot speed {, %d, %d, %d, %d, %d, %d, %d, %d, }",CalculationDirectionChangeCounter,
-              abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,(int)(WinderReferenceSpeed),(int)(Rotations*10),(int)ScrewSpeed,(int)ScrewRunningTime,(int)speedf);
+    //usnprintf(ScrewStr, 150, "Winder Encoder:id, diff, intended,  winderspeed,  rotation, speed, time, mot speed {, %d, %d, %d, %d, %d, %d, %d, %d, }",CalculationDirectionChangeCounter,
+    //          abs(ScrewLocationRun[1] - ScrewLocationRun[0]),ScrewNumberOfSteps,(int)(WinderReferenceSpeed),(int)(Rotations*10),(int)ScrewSpeed,(int)ScrewRunningTime,(int)speedf);
     //usnprintf(ScrewStr, 100, "Winder Encoder: 0 %d 1 %d diff %d ",ScrewLocationRun[0],ScrewLocationRun[1],ScrewLocationRun[1] - ScrewLocationRun[0]);
-    Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
+    //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
 
     if (ScrewCurrentDirection == 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize) //next time going out
     {
@@ -438,6 +438,10 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
     return OK;
 }
 uint32_t ScrewDTSControlId = 0xFF;
+uint32_t WinderDistanceToSpoolEnded(uint32_t deviceID, uint32_t ReadValue)
+{
+    REPORT_MSG ((int)msec_millisecondCounter,"WinderDistanceToSpoolEnded called");
+}
 uint32_t ScrewDTSCallback(uint32_t deviceID, uint32_t BusyFlag)
 {
     REPORT_MSG ((int)msec_millisecondCounter,"ScrewDTSCallback called");
@@ -453,7 +457,7 @@ uint32_t ScrewDTSCallback(uint32_t deviceID, uint32_t BusyFlag)
     //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);
     MotorStop(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
-    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2,2000);
+    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, WinderDistanceToSpoolEnded,2000);
 
 
     return OK;
@@ -463,7 +467,7 @@ uint32_t WinderDistanceToSpoolState(void )
     double DTS_Time = ((dryerbufferlength*100)/dyeingspeed)*1000;//distance to spool time in milliseconds
     REPORT_MSG ((int)DTS_Time,"WinderDistanceToSpoolState");
 
-    ScrewDTSControlId = AddControlCallback(ScrewDTSCallback, DTS_Time-500,TemplateDataReadCBFunction,0,0,0);
+    ScrewDTSControlId = AddControlCallback(ScrewDTSCallback, DTS_Time-800,TemplateDataReadCBFunction,0,0,0);
     REPORT_MSG ((int)msec_millisecondCounter,"ScrewDTSCallback start");
 
     return OK;
diff --git a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_BLOWER_PWM_Precent_.cs b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_BLOWER_PWM_Precent_.cs
index f17802815..0465d0852 100644
--- a/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_BLOWER_PWM_Precent_.cs	
+++ b/Software/Stubs Collection/stubs/Scripts/Assemblies/Dryer/GPO_BLOWER_PWM_Precent_.cs	
@@ -12,7 +12,7 @@ using Tango.Stubs;
 
 public void OnExecute(StubManager stubManager)
 {
-	const int LOW = 0;//0 - 100%
+	const int LOW = 75;//0 - 100%
 	var response  = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x112, 0xFF);//Freq 8 bit
 	var response1 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EC, LOW+1);//Low 8 bit
 	var response2 = stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x60000400 | 0x3EE, 101 - LOW);//High 8 bit 
-- 
cgit v1.3.1