aboutsummaryrefslogtreecommitdiffstats
path: root/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
blob: 4c727d3775c8581e9fd3812044b3b1e88137bd53 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
<ResourceDictionary
    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
    xmlns:mahApps="http://metro.mahapps.com/winfx/xaml/controls"
    xmlns:converters="clr-namespace:Tango.SharedUI.Converters;assembly=Tango.SharedUI"
    xmlns:local="clr-namespace:Tango.MachineStudio.Common.Controls">

    <converters:BooleanToVisibilityConverter x:Key="BooleanToVisibilityConverter" />
    <converters:BooleanToVisibilityInverseConverter x:Key="BooleanToVisibilityInverseConverter" />

    <Style TargetType="{x:Type local:LoadingPanel}">
        <Setter Property="Template">
            <Setter.Value>
                <ControlTemplate TargetType="{x:Type local:LoadingPanel}">
                    <Border Background="{TemplateBinding Background}"
                            BorderBrush="{TemplateBinding BorderBrush}"
                            BorderThickness="{TemplateBinding BorderThickness}">

                        <Grid>
                            <ContentPresenter Content="{TemplateBinding Content}" />

                            <Grid Background="#60FFFFFF" Visibility="{TemplateBinding IsLoading,Converter={StaticResource BooleanToVisibilityConverter}}">
                                <mahApps:ProgressRing IsActive="{TemplateBinding IsLoading}" />
                            </Grid>
                        </Grid>
                    </Border>
                </ControlTemplate>
            </Setter.Value>
        </Setter>
    </Style>
</ResourceDictionary>
n268'>268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927
/************************************************************************************************************************
 * control.c
 * Control module
 *
************************************************************************************************************************/
#include <Container.h>
#include <DataDef.h>
#include "include.h"
#include "GeneralHardware.h"
#include "thread/thread.h"
#include "ids/ids.h"
#include "control/control.h"
#include "Control/MillisecTask.h"
#include "AlarmHandling/AlarmHandling.h"
#include "heaters/heaters_ex.h"

#include "Diagnostics/Diagnostics.h"

#include "heaters/heaters_ex.h"

#include "drivers/Flash_ram/FlashProgram.h"

#include "Common/SWUpdate/FileSystem.h"

#include "PMR/common/MessageContainer.pb-c.h"
#include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
#include "PMR/Hardware/UploadHardWareConfigurationResponse.pb-c.h"
#include "PMR/EmbeddedParameters/MidTankDataSetupRequest.pb-c.h"
#include "PMR/EmbeddedParameters/MidTankDataSetupResponse.pb-c.h"
#include "PMR/EmbeddedParameters/ConfigurationParameters.pb-c.h"
#include "PMR/EmbeddedParameters/MachineCalibrationDataRequest.pb-c.h"
#include "PMR/EmbeddedParameters/MachineCalibrationDataResponse.pb-c.h"
#include "PMR/Hardware/SystemResetRequest.pb-c.h"
#include "PMR/Hardware/SystemResetResponse.pb-c.h"

#include "PMR/Printing/ProcessParameters.pb-c.h"
#include "PMR/Printing/UploadProcessParametersRequest.pb-c.h"
#include "PMR/Printing/UploadProcessParametersResponse.pb-c.h"

#include "drivers/I2C_Communication/DAC/Blower.h"
#include "drivers/Valves/Valve.h"
#include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
#include "Drivers/I2C_Communication/I2C.h"
#include "drivers/Flash_ram/MCU_E2Prom.h"
#include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h>
#include "drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
#include <Drivers/I2C_Communication/I2C_RFID_Dispenser_Task/I2C_RFID_Disp_Task.h>

#include "StateMachines/Printing/PrintingSTM.h"
#include "StateMachines/Initialization/InitSequence.h"
#include "StateMachines/Initialization/PowerIdle.h"
#include "StateMachines/Initialization/PowerOffSequence.h"
#include "Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.h"
#include <Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h>
#include "Modules/General/buttons.h"
#include "Modules/Waste/Waste_ex.h"
#include "Drivers/I2C_Communication/Main_Board_EEPROM/Main_EEPROM.h"
#include <Modules/Waste/newWHS_init.h>
#include <Drivers/I2C_Communication/I2C_Task.h>
#include "drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.h"
#include "Modules/heaters/heaters_ex.h"

uint32_t EmbeddedParametersInit(void);
uint32_t EmbeddedParametersWrite(void * buffer, uint16_t size);
uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest);

bool GeneralHwReady = false;

bool PP_Machine = false;

HardwareBlower BlowerCfg;
HardwareBlower HeadBlowerCfg[2];
char *SW_INFO_DIR = "0://SysInfo";

char HwConfigPath[50] = "0://SysInfo//GenHwCfg.cfg";
bool Is_PP_Machine(void)
{
    return PP_Machine;
}
void *HWConfigurationLoadFromFile( uint32_t *NumOfBytes)
{
    FRESULT Fresult = FR_OK;
    uint8_t* buffer = NULL;

    *NumOfBytes = 0;
    Fresult = f_mkdir(SW_INFO_DIR);
    if ((Fresult == FR_OK)||(Fresult == FR_EXIST))
    {
        Fresult = FileRead(HwConfigPath, NumOfBytes, &buffer);
        REPORT_IF_ERROR(Fresult, "HW Config File Read error", Fresult, RpError, buffer, 0);
    }
//    if (Fresult)
//        Report("HW Config File Read error", __FILE__,__LINE__, Fresult, RpError, buffer, 0);

    return buffer;
}

uint32_t HWConfigurationInit(void)
{
    uint32_t status = OK;
    UploadHardwareConfigurationRequest* UploadRequest=0;
    uint8_t* buffer = NULL;
    uint32_t Bytes = 0;

    GeneralHwReady = false;
    //Control_WD(ENABLE,250);

    buffer = HWConfigurationLoadFromFile(&Bytes); //load hardware config
    if (buffer)
    {
       //EraseFlashSection(GENHWCFG_SECTION_FLASH);
       //ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH, 4,&Bytes);
       //ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH+4, Bytes, buffer);
       UploadRequest = upload_hardware_configuration_request__unpack(NULL, Bytes, buffer);
       Report("HWConfigurationInit from file", __FILE__,__LINE__,Bytes, RpMessage, UploadRequest->hardwareconfiguration->n_dancers, 0);
       //AlarmHandlingLoadFile();
    }
    else
        Report("HWConfigurationInit Not available", __FILE__,__LINE__,Bytes, RpMessage, 0, 0);


    //buffer = HWConfigurationLoadFromFile(&Bytes);
    //status= memcmp(buffer,buffer1,Bytes);
    //UploadRequest = upload_hardware_configuration_request__unpack(NULL, Bytes, buffer);
    if (UploadRequest)
    {
        AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_NO_CFG_FILE,OFF);
        status = HWConfiguration(UploadRequest);
        if (status !=OK)
        {
            AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_NO_CFG_FILE,ON);
            status = MACHINE_STATE_HW_CONFIG_FAILED;
            //STATUS_GREEN_LED_OFF;
        }
        else
        {
            STATUS_RED_LED_OFF;
            ACTIVITY_GREEN_LED_OFF;
        }
        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
    }
    else
    {
        AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_NO_CFG_FILE,ON);
        status = MACHINE_STATE_NO_CFG_FILE;

    }
    if (buffer)
        free (buffer);

    Trigger_Head_Init_PT100();//OK

    if (Head_Type > HEAD_TYPE_FLAT_WITHOUT_CARD)
    {
        //Activation the heaters latch + sensors card
        Trigger_OutputsLatchWriting();//need to be done ~ at least 100uSec after Trigger_Head_io_Init

        if (Head_Type == HEAD_TYPE_ARC)
        {
            Trigger_Head_Config_Fans();//Initialization
        }

    }



    //EmbeddedParametersInit();
    IDS_Dispenser_Content_Init();
    //ProcessParamsInit();
    Buttons_Init();
#ifndef DISPESER_TEST
    if (WHS_Type == WHS_TYPE_NEW)
        newWHS_init();
    //WHS_init(); // remove call to old WHS
#endif

    // Waste Init (WHS)
    Waste_Init();

    ADC_MUX_Init();
    GeneralHwReady = true;

    //I2C_NFC_Test();
    //RFID_Test();

    return status;
}

char EmbeddedParametersPath[50] = "0://SysInfo//EmbParam.cfg";
ConfigurationParameters *EmbeddedParameters;
bool DataUpdated = false;
void LoadConfigurationParameters(ConfigurationParameters *Params)
{
    if (Params == 0)
        {
            EmbeddedParameters = my_malloc(sizeof(ConfigurationParameters));
            configuration_parameters__init(EmbeddedParameters);
            EmbeddedParameters->has_breaksensorlimit = true;
            EmbeddedParameters->breaksensorlimit = 10;

            EmbeddedParameters->has_closevalvetimeout = true;
            EmbeddedParameters->closevalvetimeout = 52;
            EmbeddedParameters->has_openvalvetimeout = true;
            EmbeddedParameters->openvalvetimeout = 52;

            EmbeddedParameters->has_initialdispenserpressure = true;
            EmbeddedParameters->initialdispenserpressure=3.85;
            EmbeddedParameters->has_initialdispensertimeout = true;
            EmbeddedParameters->initialdispensertimeout=119999.0 ;
            EmbeddedParameters->has_initialdispensertimelag = true;
            EmbeddedParameters->initialdispensertimelag=100.0 ;

            EmbeddedParameters->has_dispenserbuildpressurespeed = true;
            EmbeddedParameters->dispenserbuildpressurespeed=500;
            EmbeddedParameters->has_dispenserbuildpressurelimit = true;
            EmbeddedParameters->dispenserbuildpressurelimit=1.0 ;
            EmbeddedParameters->has_dispenserbuildpressuretimeout = true;
            EmbeddedParameters->dispenserbuildpressuretimeout=419999.0;
            EmbeddedParameters->has_dispenserbuildpressurelag = true;
            EmbeddedParameters->dispenserbuildpressurelag=50;

            EmbeddedParameters->has_acheatersloweroperationlimit = true;
            EmbeddedParameters->acheatersloweroperationlimit = 980;
            EmbeddedParameters->has_acheatersupperoperationlimit = true;
            EmbeddedParameters->acheatersupperoperationlimit = 1005;
            EmbeddedParameters->has_dcheatersloweroperationlimit = true;
            EmbeddedParameters->dcheatersloweroperationlimit = 978;
            EmbeddedParameters->has_dcheatersupperoperationlimit = true;
            EmbeddedParameters->dcheatersupperoperationlimit = 1002;

            EmbeddedParameters->has_dispenserpresegmentwfcf = true;
            EmbeddedParameters->dispenserpresegmentwfcf = 40;

            EmbeddedParameters->has_startheatingoninitsequence = true;
            EmbeddedParameters->startheatingoninitsequence = true; //set to true shlomo 14/5/2019

            EmbeddedParameters->n_generalparameters = 13;
            EmbeddedParameters->generalparameters = malloc (sizeof(double)*14);
            if (EmbeddedParameters->generalparameters)
            {
                EmbeddedParameters->generalparameters[0] = 1.0; //CheckHardLimitAlarms
                EmbeddedParameters->generalparameters[1] = 1.0; //CheckCurrentAlarms
                EmbeddedParameters->generalparameters[2] = 0.0; //CheckTamperAlarms
                EmbeddedParameters->generalparameters[3] = 0.0; //CheckMotorAlarms
                EmbeddedParameters->generalparameters[4] = 800.0; //Winder homing time at end of job
                EmbeddedParameters->generalparameters[5] = 1000.0; //Dispenser initial pressure speed
                EmbeddedParameters->generalparameters[6] = Diagnostic_Extended_Mode; //Diagnostic Mode SetDiagnosticMode
                EmbeddedParameters->generalparameters[7] = AutoHoming_JobEnd_PowerOn_off; //
                EmbeddedParameters->generalparameters[8] = false; //PowerOffDisableCleaning
                EmbeddedParameters->generalparameters[9] = 30; //   sublimation
                EmbeddedParameters->generalparameters[10] = 0.07; //    AllowedRangeForHeadBlowerDeviation;
                EmbeddedParameters->generalparameters[11] = 0.2; //                AllowedRangeForWasteBlowerDeviation = WasteLimit;
                EmbeddedParameters->generalparameters[12] = 4; //  Voltage hysteresis (bug #2970)
            }

            EmbeddedParameters->has_currentalarmlowlimit = true;
            EmbeddedParameters->currentalarmlowlimit = 0.78;
            EmbeddedParameters->has_currentalarmhighlimit = true;
            EmbeddedParameters->currentalarmhighlimit= 1.07;

            EmbeddedParameters->has_ids_presegmentbuilduptime = true;
            EmbeddedParameters->ids_presegmentbuilduptime = 5000;
            EmbeddedParameters->has_ids_cleaningspeed = true;
            EmbeddedParameters->ids_cleaningspeed = 800;
            EmbeddedParameters->has_ids_cleaningstopbeforesegmenttime = true;
            EmbeddedParameters->ids_cleaningstopbeforesegmenttime = 10000;
            EmbeddedParameters->has_ids_cleaningstartspraypresegmenttime = true;
            EmbeddedParameters->ids_cleaningstartspraypresegmenttime = 2000;
            EmbeddedParameters->has_ids_leftcleaningmotorspeed = true;
            EmbeddedParameters->ids_leftcleaningmotorspeed = 52;
            EmbeddedParameters->has_ids_rightcleaningmotorspeed = true;
            EmbeddedParameters->ids_rightcleaningmotorspeed = 52;

            EmbeddedParameters->has_switchtoidletimeinseconds = true;
            EmbeddedParameters->switchtoidletimeinseconds = 3600;
            EmbeddedParameters->has_idledriertemperature = true;
            EmbeddedParameters->idledriertemperature = 80;
            EmbeddedParameters->has_idleheadtemperature = true;
            EmbeddedParameters->idleheadtemperature = 80;
            EmbeddedParameters->has_idlemixertemperature = true;
            EmbeddedParameters->idlemixertemperature = 0;
            EmbeddedParameters->has_powerofftemperaturelimit = true;
            EmbeddedParameters->powerofftemperaturelimit = 90;
            EmbeddedParameters->has_ids_presegment_wfcf_timebeforesegment = true;
            EmbeddedParameters->ids_presegment_wfcf_timebeforesegment = 20000;
            EmbeddedParameters->description = "default embedded parameters";
            uint8_t* response_buffer = my_malloc(configuration_parameters__get_packed_size(EmbeddedParameters));

            if (response_buffer)
            {
                /*response_size = configuration_parameters__pack(EmbeddedParameters, response_buffer);
                //FileWrite(response_buffer,response_size,EmbeddedParametersPath);
                EraseFlashSection(EMBEDDED_PARAMETERS_SECTION_FLASH);
                ReadAppAndProgram(EMBEDDED_PARAMETERS_MAP_IN_FLASH, 4,&response_size);
                ReadAppAndProgram(EMBEDDED_PARAMETERS_MAP_IN_FLASH+4, response_size, response_buffer);*/
                my_free(response_buffer);
            }
        }
        else
        {
            EmbeddedParameters = Params;
            if (EmbeddedParameters->description)
                Report(EmbeddedParameters->description, __FILE__,__LINE__,112233, RpMessage, 445566, 0);

        }
}
uint32_t EmbeddedParametersInit(void)
{
    FRESULT Fresult = FR_OK;
    uint32_t Bytes = 0;
    uint8_t* buffer = NULL;
    bool success=false;
    ConfigurationParameters *Params;

    // try loading from flash
    memcpy(&Bytes,(void *)EMBEDDED_PARAMETERS_MAP_IN_FLASH,sizeof(Bytes));

    if ((Bytes)&&(Bytes < 1000))
    {
        buffer = my_malloc (Bytes);
        if (buffer)
        {
            memcpy(buffer, (void *)(EMBEDDED_PARAMETERS_MAP_IN_FLASH+4),Bytes);

            Params = configuration_parameters__unpack(NULL, Bytes, buffer);
            LoadConfigurationParameters(Params);
            Report("LoadConfigurationParameters from flash", __FILE__,__LINE__,Bytes, RpMessage, Fresult, 0);
            free(buffer);
            success = true;
        }
    }
    if (success == false)
    {
        if (LoadConfigurationParamsFromFile(false)==OK)
        {
            success = true;
            Report("LoadConfigurationParameters from file", __FILE__,__LINE__,EmbeddedParameters->closevalvetimeout, RpMessage, Fresult, 0);
        }
    }
    if (success == false)
    {
        LoadConfigurationParameters(0);
        Report("LoadConfigurationParameters default. flash and file error!!!", __FILE__,__LINE__,0, RpMessage, Fresult, 0);
        AlarmHandlingSetAlarm (EVENT_TYPE__POWER_UP_BIT_FAILURE,ON);
    }
    if (EmbeddedParameters->n_generalparameters >= 6)
    {
        IDS_Dispenser_SetBackLashValues(EmbeddedParameters->initialdispenserpressure, EmbeddedParameters->initialdispensertimeout, EmbeddedParameters->initialdispensertimelag,EmbeddedParameters->generalparameters[5]);
    }
    else
    {
        IDS_Dispenser_SetBackLashValues(EmbeddedParameters->initialdispenserpressure, EmbeddedParameters->initialdispensertimeout, EmbeddedParameters->initialdispensertimelag,1000);
    }

    IDS_Dispenser_SetTimeOutValues(EmbeddedParameters->closevalvetimeout, EmbeddedParameters->openvalvetimeout);
    IDS_Dispenser_SetPrepareValues(EmbeddedParameters->dispenserbuildpressurespeed,   EmbeddedParameters->dispenserbuildpressurelimit, EmbeddedParameters->dispenserbuildpressuretimeout, EmbeddedParameters->dispenserbuildpressurelag);
    IDS_Dispenser_SetPreSegmentWFCFValues(EmbeddedParameters->dispenserpresegmentwfcf,  EmbeddedParameters->ids_presegment_wfcf_timebeforesegment);
    IDS_Dispenser_SetPreSegmentCleaningValues(EmbeddedParameters->ids_cleaningspeed,EmbeddedParameters->ids_cleaningstartspraypresegmenttime ,EmbeddedParameters->ids_cleaningstopbeforesegmenttime,EmbeddedParameters->ids_leftcleaningmotorspeed,EmbeddedParameters->ids_rightcleaningmotorspeed);

    //Heaters_SetOverHeatTimeOutValues( EmbeddedParameters->overheatcountlimit,  EmbeddedParameters->underheatcountlimit);
    Heaters_SetOperationLimits(EmbeddedParameters->acheatersloweroperationlimit,EmbeddedParameters->acheatersupperoperationlimit,EmbeddedParameters->dcheatersloweroperationlimit,EmbeddedParameters->dcheatersupperoperationlimit);
    //MidTankPressureCorrection(EmbeddedParameters->midtankpressurecorrection);
    //SetDiagnosticCollectionLimit(EmbeddedParameters->diagnosticcollectionlimit);
    ThreadSetBreakSensorLimit(EmbeddedParameters->breaksensorlimit);
    PowerOffSetTemperatureThreshold(EmbeddedParameters->powerofftemperaturelimit);

    InitSequenceSetStartHeating (EmbeddedParameters->startheatingoninitsequence);
    bool checkHardLimitAlarms = false, checkCurrentAlarms = false,  checkTamperAlarms = false,  checkMotorAlarms = false;
    if (EmbeddedParameters->n_generalparameters >= 4)
    {
        checkHardLimitAlarms = (EmbeddedParameters->generalparameters[0] < 0.5)?false:true;
        checkCurrentAlarms = (EmbeddedParameters->generalparameters[1] < 0.5)?false:true;
        checkTamperAlarms = (EmbeddedParameters->generalparameters[2] < 0.5)?false:true;
        checkMotorAlarms = (EmbeddedParameters->generalparameters[3] < 0.5)?false:true;
        AlarmHandlingSetFlags(checkHardLimitAlarms,checkCurrentAlarms,checkTamperAlarms,checkMotorAlarms);
        AlarmHandlingSetCurrentLimits(EmbeddedParameters->currentalarmhighlimit,EmbeddedParameters->currentalarmlowlimit);
    }
    if (EmbeddedParameters->n_generalparameters >= 5)
        SetWinderBackToBaseTime((uint32_t) EmbeddedParameters->generalparameters[4]);
    if (EmbeddedParameters->n_generalparameters >= 7)
    {
        if(EmbeddedParameters->generalparameters[6]<0.5)  SetDiagnosticMode(Diagnostic_Minimal_Mode);
        else if(EmbeddedParameters->generalparameters[6]<1.5)  SetDiagnosticMode(Diagnostic_Normal_Mode);
        else if(EmbeddedParameters->generalparameters[6]<2.5)  SetDiagnosticMode(Diagnostic_Extended_Mode);
        else if(EmbeddedParameters->generalparameters[6]<3.5)  SetDiagnosticMode(Diagnostic_Extreme_Mode);
    }
    if (EmbeddedParameters->n_generalparameters >= 8)
    {
        if (EmbeddedParameters->generalparameters[7]< 0.5) IDS_Dispenser_SetAutoHoming_Config(AutoHoming_off);
        else if (EmbeddedParameters->generalparameters[7]< 1.5) IDS_Dispenser_SetAutoHoming_Config(AutoHoming_PowerOff);
        else if (EmbeddedParameters->generalparameters[7]< 2.5) IDS_Dispenser_SetAutoHoming_Config(AutoHoming_PowerOn_off);
        else if (EmbeddedParameters->generalparameters[7]< 3.5) IDS_Dispenser_SetAutoHoming_Config(AutoHoming_JobEnd_PowerOn_off);
        else         Report("SetAutoHoming_Config error", __FILE__,__LINE__,(int)(EmbeddedParameters->generalparameters[7]*100), RpMessage, 0, 0);
    }
    if (EmbeddedParameters->n_generalparameters >= 9)
    {
        if (EmbeddedParameters->generalparameters[8]< 0.5) setPowerOffDisableCleaning(false);
        else setPowerOffDisableCleaning(true);
    }
    if (EmbeddedParameters->n_generalparameters >= 10)
    {
        setSublimationBlowTime(EmbeddedParameters->generalparameters[9]);
    }
    if (EmbeddedParameters->n_generalparameters >= 12)
    {
        setWastePrepareValues(EmbeddedParameters->generalparameters[10],EmbeddedParameters->generalparameters[11]);
    }
    if (EmbeddedParameters->n_generalparameters >= 13)
    {
        Set_Voltage_Hysteresis (EmbeddedParameters->generalparameters[12]);
    }
    if (EmbeddedParameters->n_generalparameters >= 15)
    {
        Set_Head_Blowers_Parameters(EmbeddedParameters->generalparameters[13],EmbeddedParameters->generalparameters[14]);
    }
    PowerIdleSetParameters(EmbeddedParameters->switchtoidletimeinseconds,EmbeddedParameters->idledriertemperature,EmbeddedParameters->idleheadtemperature,EmbeddedParameters->idlemixertemperature);

    return Fresult;
}
/*uint32_t GenHWControlId;

uint32_t GenHWInitCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
{
    int   Dispenser_i;
    SafeRemoveControlCallback(GenHWControlId, GenHWInitCallBackFunction );
    for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
    {
        Read_MidTank_Pressure_Sensor(Dispenser_i);
        Valve_Set(IDS_Id_to_AirValve[Dispenser_i], Atm_MidTank_OFF );   //Atm_MidTank_OFF/ON
            Disable_MidTank_Pressure_Reading(Dispenser_i);
    }
    return OK;
}*/

uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
{
    uint32_t status  = 0;
    int Dancer_i, Dispenser_i,PID_i,tempheaterId,DispenserId;
    HardwareBlowerType blowerType = HARDWARE_BLOWER_TYPE__DefaultBlower;

    if (UploadRequest == NULL)
    {
        LOG_ERROR (0, "Wrong Data Allocation");
        return ERROR;
    }
    /*if (InitFailures > REPEATED_INIT_FAILURE_LIMIT)
    {
        Report("HWConfigurationInit repeated failure",__FILE__,__LINE__,(int)InitFailures,RpWarning,(int)EEPROM_INIT_FAILURE_COUNTER,0);
        //AlarmHandlingSetAlarm (EVENT_TYPE__POWER_UP_BIT_FAILURE,ON);
        //return ERROR;
    }
    else
    {
        if (InitFailures > 2)
        {
            Report("HWConfigurationInit repeated failure going up",__FILE__,__LINE__,(int)InitFailures,RpWarning,(int)EEPROM_INIT_FAILURE_COUNTER,0);
        }
    }*/

    HardwareConfiguration *request =    UploadRequest->hardwareconfiguration;

    if (JobIsActive())
    {
        LOG_ERROR(1,"JobIsActive");
        return ERROR;
    }
    if (FPGABurningActive == true)
    {
        LOG_ERROR(1,"FPGABurningActive");
        return ERROR;
    }
    if (watchdogCriticalAlarm == true)
    {
        LOG_ERROR(1,"Critical Alarm cleared - Watchdog de-activated");
        watchdogCriticalAlarm = false;
    }
    EmbeddedParametersInit();

    PrintingHWConfiguration(request);
    //if (request->n_winders == 1)
    //    status += InternalWinderConfigMessage(request->winders);

    MotorConfiguredTimeout = 100;

    status += MotorsInit();
 
    if (request->n_motors < NUM_OF_MOTORS)
    {
        //for (Motor_i = 0; Motor_i < request->n_motors ; Motor_i++)
        status += MotorsConfigMessage(request);
    }
    else
    {
        LOG_ERROR (request->n_motors, "Wrong Data");
        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
        return ERROR;
    }
    if (request->n_dancers <= NUM_OF_DANCERS)
    {
        for (Dancer_i = 0; Dancer_i < request->n_dancers ; Dancer_i++)
            status += DancerConfigMessage(request->dancers[Dancer_i]);
    }
    else
    {
        LOG_ERROR (request->n_dancers, "Wrong Data");
        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
        return ERROR;
    }
    LoadDancerConfigMessage();
    //StoreDancerConfigMessage();
    if (request->n_pidcontrols <= HARDWARE_PID_CONTROL_TYPE__HeadBlower_2)
    {
        //IDS_DispenserControlInit();

        for (PID_i = 0; PID_i < request->n_pidcontrols ; PID_i++)
        {
            if (isHeater(request->pidcontrols[PID_i]->hardwarepidcontroltype))
            {
                status += HeaterConfigRequestMessage(request->pidcontrols[PID_i]);
                if ((request->pidcontrols[PID_i]->hardwarepidcontroltype>=HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1)&&
                        (request->pidcontrols[PID_i]->hardwarepidcontroltype<=HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6))
                {
                    tempheaterId = (request->pidcontrols[PID_i]->hardwarepidcontroltype-HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1+HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ7);
                    request->pidcontrols[PID_i]->hardwarepidcontroltype = tempheaterId;
                    status += HeaterConfigRequestMessage(request->pidcontrols[PID_i]);
                }
            }
            else if ((request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__MotorDryer)&&
                    (request->pidcontrols[PID_i]->hardwarepidcontroltype < HARDWARE_PID_CONTROL_TYPE__Dispenser1))
                status += MotorPidRequestMessage(request->pidcontrols[PID_i]);
            else if ((request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__Dispenser1)&&
                (request->pidcontrols[PID_i]->hardwarepidcontroltype < HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ7))
                status += IDS_DispenserPidRequestMessage(request->pidcontrols[PID_i]);
            else if (request->pidcontrols[PID_i]->hardwarepidcontroltype == HARDWARE_PID_CONTROL_TYPE__WasteControl)
                WHS_PidRequestMessage(request->pidcontrols[PID_i]);
            else if (request->pidcontrols[PID_i]->hardwarepidcontroltype == HARDWARE_PID_CONTROL_TYPE__HeadBlower_1)
                HeadBlowerPidRequestMessage(request->pidcontrols[PID_i], HEAD_FAN_RIGHT);
            else if (request->pidcontrols[PID_i]->hardwarepidcontroltype == HARDWARE_PID_CONTROL_TYPE__HeadBlower_2)
                HeadBlowerPidRequestMessage(request->pidcontrols[PID_i], HEAD_FAN_LEFT);
        }
    }
    else
    {
        LOG_ERROR (request->n_pidcontrols, "Wrong Data");
        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
        return ERROR;
    }
    if (request->n_dispensers <= MAX_SYSTEM_DISPENSERS)
    {
        for (Dispenser_i = 0; Dispenser_i < request->n_dispensers ; Dispenser_i++)
        {
            DispenserId = request->dispensers[Dispenser_i]->index;
            Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF );   //Atm_MidTank_OFF/ON
            Valve_Set(IDS_Id_to_CartrideValve[DispenserId], Atm_MidTank_OFF );   //Atm_MidTank_OFF/ON
            //status += DispenserConfigMessage(request->dispensers[Dispenser_i]);
            if (Check_Dispenser_Type(DispenserId) == LS_STATUS_ERROR)
            {
                LOG_ERROR (DispenserId, "Dispenser identification failed");
                //return ERROR;
            }
            Trigger_Dispenser_ReadData(DispenserId);
        }
        Calculateinit();
    }
    else
    {
        LOG_ERROR (request->n_dispensers, "Wrong Data");
        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
        return ERROR;
    }
    Init_Dispensers_IO_Registers(/*&Disp_IO_Reg*/);
    if (request->n_breaksensors == 1)
    {
        ThreadConfigBreakSensor(request->breaksensors[0]);
    }

    BlowerCfg.enabled = true;
    if (WHS_Type == WHS_TYPE_UNKNOWN)
    {
        blowerType = HARDWARE_BLOWER_TYPE__DefaultBlower;
        BlowerCfg.voltage = 3000;
        BlowerCfg.heatingvoltage = 2650;
    }
    else
    {
        blowerType = HARDWARE_BLOWER_TYPE__WHSBlower2;
        BlowerCfg.voltage = 2200;
        BlowerCfg.heatingvoltage = 2000;
    }
    if (request->n_blowers)
    {
        for (Dispenser_i = 0; Dispenser_i < request->n_blowers ; Dispenser_i++)
        {
            if (request->blowers[Dispenser_i]->hardwareblowertype == blowerType)
            {
                if(request->blowers[Dispenser_i]->enabled)
                {
                    BlowerCfg.enabled = true;
                    BlowerCfg.voltage = request->blowers[Dispenser_i]->voltage;
                    BlowerCfg.heatingvoltage = request->blowers[Dispenser_i]->heatingvoltage;
                }
                Report("blower config", __FILE__,Dispenser_i,(int)request->blowers[Dispenser_i]->hardwareblowertype, RpMessage, (int)request->blowers[Dispenser_i]->voltage, 0);

                break;
            }
            if((request->blowers[Dispenser_i]->enabled)&&(request->blowers[Dispenser_i]->hardwareblowertype == HARDWARE_BLOWER_TYPE__WHSSmallFans))
            {
                SmallFansCfg = request->blowers[Dispenser_i]->voltage;
            }
            if((request->blowers[Dispenser_i]->enabled)&&(request->blowers[Dispenser_i]->hardwareblowertype == HARDWARE_BLOWER_TYPE__WHSLargeFans))
            {
                LargeFansCfg = request->blowers[Dispenser_i]->voltage;
            }
            if((request->blowers[Dispenser_i]->enabled)&&(request->blowers[Dispenser_i]->hardwareblowertype == HARDWARE_BLOWER_TYPE__HeadBlower1))
            {
                HeadBlowerCfg[0].enabled = true;
                HeadBlowerCfg[0].voltage = request->blowers[Dispenser_i]->voltage;
                HeadBlowerCfg[0].heatingvoltage = request->blowers[Dispenser_i]->heatingvoltage;
            }
            if((request->blowers[Dispenser_i]->enabled)&&(request->blowers[Dispenser_i]->hardwareblowertype == HARDWARE_BLOWER_TYPE__HeadBlower2))
            {
                HeadBlowerCfg[1].enabled = true;
                HeadBlowerCfg[1].voltage = request->blowers[Dispenser_i]->voltage;
                HeadBlowerCfg[1].heatingvoltage = request->blowers[Dispenser_i]->heatingvoltage;
            }
        }
    }
    ControlStart();
    AlarmHandlingStart();
    GeneralHwReady = true;
    STATUS_RED_LED_OFF;
    return OK;
}
char Serial[21];

uint32_t MachineCalibrationDataRequestFunc(MessageContainer* requestContainer)
{
    MessageContainer responseContainer;
    MachineCalibrationDataRequest *request = machine_calibration_data_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
    uint32_t *DancersData = my_malloc(MAX_SYSTEM_DANCERS*sizeof(uint32_t));
    MidTankData ** MidTankDataCollect = my_malloc(sizeof(MidTankData *)*MAX_SYSTEM_DISPENSERS);
    MidTankData MidTankInfo[MAX_SYSTEM_DISPENSERS];

    int i;
    for (i = 0;i<MAX_SYSTEM_DANCERS;i++)
        DancersData[i] = DancersCfg[i].zeropoint;
    for (i = 0;i<MAX_SYSTEM_DISPENSERS;i++)
    {
        MidTankDataCollect[i] = &MidTankInfo[i];
        mid_tank_data__init(&MidTankInfo[i]);
        MidTankInfo[i].has_midtankid = true;
        MidTankInfo[i].midtankid = i;
        MidTankInfo[i].has_initialoffseta = true;
        MidTankInfo[i].initialoffseta = MCU_E2PromReadMidtank_A(i);
        MidTankInfo[i].has_slopeb = true;
        MidTankInfo[i].slopeb = MCU_E2PromReadMidtank_B(i);
    }
    //memset (Serial,0,20);
    //MCU_E2PromSerialNumRead(&Serial);

    MachineCalibrationDataResponse response = MACHINE_CALIBRATION_DATA_RESPONSE__INIT;
    response.machinecalibrationdata = my_malloc(sizeof(MachineCalibrationData));
    machine_calibration_data__init(response.machinecalibrationdata);
    response.machinecalibrationdata->n_dancermiddlepoint = MAX_SYSTEM_DANCERS;
    response.machinecalibrationdata->dancermiddlepoint = DancersData;
    response.machinecalibrationdata->machineserialnumber = Serial;
    response.machinecalibrationdata->midtankinfo = &MidTankDataCollect[0];
    response.machinecalibrationdata->n_midtankinfo = MAX_SYSTEM_DISPENSERS;
    response.machinecalibrationdata->macaddress = NULL;


    responseContainer = createContainer(MESSAGE_TYPE__MachineCalibrationDataResponse, requestContainer->token, true, &response, &machine_calibration_data_response__pack, &machine_calibration_data_response__get_packed_size);
    //-------------------------------------------------------------------------------------------
    uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
    size_t container_size = message_container__pack(&responseContainer, container_buffer);
    my_free(responseContainer.data.data);
    SendChars((char*)container_buffer, container_size);

    my_free(DancersData);
    my_free(MidTankDataCollect);

    return OK;

}
uint32_t MidTankDataSetupFunc(MessageContainer* requestContainer)
{
    MessageContainer responseContainer;
    MidTankDataSetupRequest *request = mid_tank_data_setup_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
    int i;
    for (i = 0;i<request->n_midtankinfo;i++)
    {
        Report("MidTankDataSetupFunc", __FILE__,request->midtankinfo[i]->midtankid,(int)(request->midtankinfo[i]->initialoffseta*1000), RpMessage, (int)(request->midtankinfo[i]->slopeb*1000), 0);
        MCU_E2PromProgramMidTank(request->midtankinfo[i]->midtankid,request->midtankinfo[i]->initialoffseta,request->midtankinfo[i]->slopeb);
    }
    //debug only
    Task_sleep(1000);
    ADC_MUX_Init();
    for (i = 0;i<8;i++)
    {
        float a=0,b=0;
        a = Initial_Offset_A[i];
        b = Slope_B[i];
        Report("MidTankData Read", __FILE__,__LINE__,(int)(a*1000), RpMessage, (int)(b*1000), 0);
    }

    MidTankDataSetupResponse response = MID_TANK_DATA_SETUP_RESPONSE__INIT;

    responseContainer = createContainer(MESSAGE_TYPE__MidTankDataSetupResponse, requestContainer->token, true, &response, &mid_tank_data_setup_response__pack, &mid_tank_data_setup_response__get_packed_size);
    //-------------------------------------------------------------------------------------------
    uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
    size_t container_size = message_container__pack(&responseContainer, container_buffer);
    my_free(responseContainer.data.data);
    SendChars((char*)container_buffer, container_size);

    return OK;

}
uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
{
    uint32_t status  = 0;
    MessageContainer responseContainer;
    UploadHardwareConfigurationResponse response = UPLOAD_HARDWARE_CONFIGURATION_RESPONSE__INIT;
    UploadHardwareConfigurationRequest* UploadRequest = NULL;
    if (JobIsActive())
    {
        LOG_ERROR(1,"JobIsActive");
        status = ERROR;
    }
    else
    {
        GeneralHwReady = false;
        Control_WD(ENABLE,250);
        //compare existing data to new data. update if different
        /*memcpy(&ExistingDataLen,(void *)GENHWCFG_MAP_IN_FLASH,sizeof(ExistingDataLen));
        if (ExistingDataLen == requestContainer->data.len)
        {
            compare = memcmp (requestContainer->data.data,((void *)(GENHWCFG_MAP_IN_FLASH+4)),requestContainer->data.len);
            Report("!!!!!!!!!data compare hw func", __FILE__,compare,requestContainer->data.len,RpMessage,ExistingDataLen,0);
        }
        else
            compare = ExistingDataLen - requestContainer->data.len;
            //if compare is equal no need to store the data
        if (compare != 0)
        {
            DataLen = requestContainer->data.len;
            EraseFlashSection(GENHWCFG_SECTION_FLASH);
            ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH, 4,&DataLen);
            ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH+4, DataLen, requestContainer->data.data);
            Report("store hw configuration", __FILE__,compare,requestContainer->data.len,RpMessage,ExistingDataLen,0);
            AlarmHandlingLoadFile();
            FileWrite(requestContainer->data.data, requestContainer->data.len,HwConfigPath,BIOS_WAIT_FOREVER);
        }*/
        UploadRequest = upload_hardware_configuration_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
        if (UploadRequest)
        {
            FileWrite(requestContainer->data.data, requestContainer->data.len,HwConfigPath,BIOS_WAIT_FOREVER);
            Report("store hw configuration", __FILE__,__LINE__,requestContainer->data.len,RpMessage,UploadRequest->hardwareconfiguration->n_motors,0);
            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)
    {
        responseContainer.has_error = true;
        responseContainer.error = ERROR_CODE__INVALID_PARAMETER;
        responseContainer.errormessage = "JOb Active or incorrect parameters";
    }
    else
    {
        AlarmHandlingSetAlarm (EVENT_TYPE__MACHINE_STATE_NO_CFG_FILE,OFF);
    }
    uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
    size_t container_size = message_container__pack(&responseContainer, container_buffer);
    my_free(responseContainer.data.data);
    if (UploadRequest)
        upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
    SendChars(container_buffer, container_size);

    return OK;



}

void HWSystemResetRequest(MessageContainer* requestContainer)
{
    //uint32_t status = FAILED;

    MessageContainer responseContainer;
    SystemResetRequest* request = system_reset_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);

    SystemResetResponse response =   SYSTEM_RESET_RESPONSE__INIT;


    responseContainer = createContainer(MESSAGE_TYPE__SystemResetResponse, requestContainer->token, true, &response, &system_reset_response__pack, &system_reset_response__get_packed_size);

    system_reset_request__free_unpacked(request,NULL);
    //-------------------------------------------------------------------------------------------
    uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
    size_t container_size = message_container__pack(&responseContainer, container_buffer);
    SendChars((char*)container_buffer, container_size);
    Report("HWSystemResetRequest before sleep", __FILE__,__LINE__,0, RpMessage, 2, 0);

    //ROM_SysCtlDelay(SYS_CLK_FREQ);
    Task_sleep(2000);
    Report("HWSystemResetRequest after sleep", __FILE__,__LINE__,2, RpMessage, 4, 0);

    //ROM_SysCtlDelay(SYS_CLK_FREQ);
    Task_sleep(2000);

    SysCtlReset();

    HWREG(NVIC_APINT) = NVIC_APINT_VECTKEY |  NVIC_APINT_SYSRESETREQ;

}
//uint32_t FlashInitResults[5] = {0,0,0,0,0};
uint32_t LoadConfigurationParamsFromFile(bool Initialize)
{
    FRESULT Fresult = FR_OK;
    uint8_t* buffer = NULL;
    uint32_t Bytes = 0;

    ConfigurationParameters *Params = NULL;

    Fresult = FileRead(EmbeddedParametersPath, &Bytes, &buffer);
    if (Fresult == FR_OK)
    {
        Params = configuration_parameters__unpack(NULL, Bytes, buffer);
        LoadConfigurationParameters(Params);
        free (buffer);
        //configuration_parameters__free_unpacked(Params,NULL);
        //FlashInitResults[1] = true;
        Report("Parameters Initialized from file", __FILE__,__LINE__,Bytes, RpMessage, EMBEDDED_PARAMETERS_MAP_IN_FLASH, 0);
        EraseFlashSection();
        ReadAppAndProgram(EMBEDDED_PARAMETERS_MAP_IN_FLASH, 4,&Bytes);
        ReadAppAndProgram(EMBEDDED_PARAMETERS_MAP_IN_FLASH+4, Bytes, buffer);
        if (Initialize)
            EmbeddedParametersInit();
    }
    return Fresult;
}
void HWConfigurationLoadFile(void)
{
    uint8_t* buffer = NULL;
    uint32_t Bytes = 0;
    UploadHardwareConfigurationRequest* UploadRequest = NULL;

    buffer = HWConfigurationLoadFromFile(&Bytes); //load hardware config
    if (buffer)
    {
       UploadRequest = upload_hardware_configuration_request__unpack(NULL, Bytes, buffer);
       Report("HWConfigurationInit from file", __FILE__,__LINE__,Bytes, RpMessage, UploadRequest->hardwareconfiguration->n_dancers, 0);
    }
    else
        Report("HWConfigurationInit Not available", __FILE__,__LINE__,Bytes, RpMessage, 0, 0);
}
void FlashInitAndLoad(void)
{
    FRESULT Fresult = FR_OK;
    uint8_t* buffer = NULL;
    uint32_t Bytes = 0;

    ConfigurationParameters *Params = NULL;
    //ProcessParameters*  ProcessParams = NULL;
    //UploadProcessParametersRequest* request = NULL;

    //char ProcessParamsPath[50] = "0://SysInfo//ProcessP.cfg";

#ifdef WATCHDOG
        ROM_WatchdogResetDisable(WATCHDOG0_BASE);
        uint32_t timeout = 0xFFFFFFFFU;
        ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
#endif

    FlashInit(); //initialize flash
    Report("Flash Initialized", __FILE__,__LINE__,FLASH_SIZE, RpMessage, FLASH_RAM_BASE, 0);

    /*buffer = HWConfigurationLoadFromFile(&Bytes); //load hardware config
    if (buffer)
    {
        EraseFlashSection(GENHWCFG_SECTION_FLASH);
        ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH, 4,&Bytes);
       ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH+4, Bytes, buffer);
       free (buffer);
       FlashInitResults[0] = true;
    }
    Report("Hardware Initialized", __FILE__,__LINE__,Bytes, RpMessage, GENHWCFG_MAP_IN_FLASH, 0);*/

    StoreDancerConfigMessage(0);
    StoreDancerConfigMessage(1);
    StoreDancerConfigMessage(2);
    Report("Dancer Initialized", __FILE__,DancersCfg[0].zeropoint,DancersCfg[1].zeropoint, RpMessage, DancersCfg[2].zeropoint, 0);
    /*Bytes = AlarmHandlingLoadFile();
    if (Bytes>0)
    {
        Report("Alarm Initialized from file", __FILE__,__LINE__,Bytes, RpMessage, ALARM_MAP_IN_FLASH, 0);
    }*/
    EraseFlashSection();

    Fresult = FileRead(EmbeddedParametersPath, &Bytes, &buffer);
    if (Fresult == FR_OK)
    {
        Params = configuration_parameters__unpack(NULL, Bytes, buffer);
        LoadConfigurationParameters(Params);
        //Bytes = sizeof(EmbeddedParameters);
        ReadAppAndProgram(EMBEDDED_PARAMETERS_MAP_IN_FLASH, 4,&Bytes);
        ReadAppAndProgram(EMBEDDED_PARAMETERS_MAP_IN_FLASH+4, Bytes, buffer);
        free (buffer);
        //configuration_parameters__free_unpacked(Params,NULL);
        Report("Parameters Initialized from file", __FILE__,__LINE__,sizeof(EmbeddedParameters), RpMessage, EMBEDDED_PARAMETERS_MAP_IN_FLASH, 0);
    }
    else
    {
        LoadConfigurationParameters(0);
        Report("Parameters Initialized from default", __FILE__,__LINE__,sizeof(EmbeddedParameters), RpMessage, EMBEDDED_PARAMETERS_MAP_IN_FLASH, 0);
    }

#ifdef WATCHDOG
        ROM_WatchdogResetEnable(WATCHDOG0_BASE);
        timeout = 120000000*3;
        ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
#endif

}