Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

8 files changed, 127 insertions, 70 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 5f2046c3e..598c5df8a 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -150,7 +150,9 @@ uint32_t HWConfigurationInit(void)
     //ProcessParamsInit();
     Buttons_Init();
     WHS_init();
-
+#ifdef Use_WHS_Card
+    newWHS_init();
+#endif
     ADC_MUX_Init();
     GeneralHwReady = true;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index c49fd81f0..41452cbad 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -476,7 +476,7 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t DispenserId)
     if (Extended_Motor_Param == true)
         Power_Step_01_Dispenser_Mode(DispenserId,Voltage);
     //status |= MotorSetMicroStep(MotorId, KeepMicrostep[DispenserId]);
-    status |= MotorStop(DispenserId, Hard_Hiz);
+    status |= MotorStop(MotorId, Hard_Hiz);
     IDS_Dispenser_Init(DispenserId);
     JobEndReason = JOB_OUT_OF_DYE;
     return status;
@@ -509,7 +509,6 @@ uint32_t IDS_Check_Pressure_Callback(uint32_t DispenserId, uint32_t ReadValue)
     if (GetDispenserPressure(DispenserId)>3.0)
     {
         Report("Pulling dispenser down to reduce pressure",__FILE__,DispenserId,(int)(GetDispenserPressure(DispenserId)*100),RpWarning,200,0);
-
         MotorMove(HW_Motor_Id,1-MotorsCfg[HW_Motor_Id].directionthreadwize,200*MotorsCfg[HW_Motor_Id].microstep);
     }
     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 3af6416cb..9fdcaaf1f 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -81,7 +81,7 @@ int lInterSegmentLength = 0;
  uint32_t InterSegmentStartWFCFDispensers;
  uint32_t WFCF = 80;
  bool EnableCleaning = true;
-
+bool JobEndSequence = false;
  void IDS_Dispenser_SetPreSegmentWFCFValues(double dispenserpresegmentwfcf, double  ids_presegment_wfcf_timebeforesegment)
  {
      if (ids_presegment_wfcf_timebeforesegment)
@@ -228,7 +228,7 @@ JobDescriptionFileBrushStop *FirstBrushStop = NULL;
      int brushCounter = 0;
 
 
-     GeneralHwReady = false;
+     //GeneralHwReady = false;
      for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
      {
          DispenserUsedInJob[Dispenser_i] = false;
@@ -317,7 +317,7 @@ JobDescriptionFileBrushStop *FirstBrushStop = NULL;
          FreeSegmentFileData(Segment);
          CloseJobFile();
      }
-     GeneralHwReady = true;
+     //GeneralHwReady = true;
      int ActiveDispensers = 0;
      for (Dispenser_i = 0; Dispenser_i < MAX_DYE_DISPENSERS; Dispenser_i++)
      {
@@ -657,6 +657,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
 
     //JobTicket* JobTicket = JobDetails;
 
+    JobEndSequence = false;
     if ((feedertension>0.1)&&(feedertension<1.5))
     {
         Report("Setting pressure from RML feeder tension",__FILE__,__LINE__,(int)(feedertension*100),RpWarning,(int)(DispenserPreparePressure*100),0);
@@ -733,7 +734,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
          }
          else
          {
-             /**/if (AutoHoming_Config >= AutoHoming_JobEnd_PowerOn_off)
+             if (AutoHoming_Config >= AutoHoming_JobEnd_PowerOn_off)
              {
                  if ((HomingActive[i] == false)&&(PrimingActive[i] == false))
                  {
@@ -744,26 +745,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                  {
                      Report("Inactive dispenser already homing",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
                  }
-             }/**/
-             /*if ((HomingActive[i] == false)&&(PrimingActive[i] == false))
-             {
-                 Report("Inactive dispenser open valve",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
-                 Control3WayValvesWithCallback (i, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                     Report("Homing Inactive dispenser",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
-                     IDS_HomeDispenser (i, 1000 , NULL);
-                 }
-                 else
-                 {
-                     Report("Inactive dispenser already homing",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
-                 }
-             }*/
-             //if ((HomingActive[i] == false)&&(PrimingActive[i] == false))
-             //{
-             //    Report("Inactive dispenser open valve",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
-             //    Control3WayValvesWithCallback (i, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-             //}
-             //ControlIdtoInactiveDispenserId[Dispenser_i] = AddControlCallback( IDS_Check_Pressure_Callback, eOneMinute,TemplateDataReadCBFunction ,0, 0, 0 );
-
+             }
          }
      }
      if (NumOfActiveDispensers)
@@ -1401,6 +1383,12 @@ uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
     int n_dispensers = 0;
     JobSegment* Segment = (void *)IfIndex;
 
+    if (JobEndSequence == true)
+    {
+        Report("JobEndSequence",__FILE__,__LINE__,(int)JobBrushStopId,RpWarning,(int)SegmentNumOfBrushStops,0);
+        SafeRemoveControlCallback(BrushStopControlId,IDSBrushStopRestartCallback);
+        BrushStopControlId = 0Xff;
+    }
     if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
     {
         Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
@@ -1464,10 +1452,10 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 #endif
      IDS_Cleaning_Stop_Cleaning_Solution(NULL);
      SegmentNumOfBrushStops = Segment->n_brushstops;
-     BrushStopTime = Segment->length/SegmentNumOfBrushStops;  //brushstop in meters
+     BrushStopTime = Segment->length*1000/(double)SegmentNumOfBrushStops;  //brushstop in meters //brushstop in millisecond
      BrushStopTime = ((BrushStopTime*100)/dyeingspeed);//brushstop in seconds
-     BrushStopTime *= 1000; //brushstop in millisecond
-     Report("IDSSegmentState",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)SegmentNumOfBrushStops,0);
+     //BrushStopTime *= 1000;
+     Report("IDSSegmentState",__FILE__,__LINE__,(int)(BrushStopTime*1000),RpWarning,(int)SegmentNumOfBrushStops,0);
      if (uploadstrategy == JOB_UPLOAD_STRATEGY__Default)
      {
          Dispensers = Segment->brushstops[JobBrushStopId]->dispensers;
@@ -1557,7 +1545,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          if (FileBrushStop)
              FreeBrushStopFileData(FileBrushStop);
          FileBrushStop = NULL;
-
+         JobEndSequence = true;
          lInterSegmentLength = (dryerbufferCentimeters*1000/dyeingspeed);
          lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
          InterSegmentStepsCount = 0;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 373e4bbd9..13b98bcb0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -445,7 +445,7 @@
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, 500);
 
 //        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
-        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, (2000*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000);
+        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, (5000*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000);
 
         return OK;
     }
@@ -607,7 +607,7 @@
         CallbackCounter++;
         Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
-                               numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
+                               numberOfSteps-400,    Thread_Load_Dryer_Loading_Callback, 100000);
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
@@ -1079,7 +1079,6 @@ uint32_t ThreadLoadingReport(void)
     MessageContainer responseContainer;
     bool last = false;
     StartThreadLoadingResponse response = START_THREAD_LOADING_RESPONSE__INIT;
-    ContinueThreadLoadingResponse Cresponse = CONTINUE_THREAD_LOADING_RESPONSE__INIT;
 
     if (ThreadLoadingToken[0] == 0)
         return OK;
@@ -1093,7 +1092,6 @@ uint32_t ThreadLoadingReport(void)
             if (LoadStages == THREAD_LOAD_INITIAL_TENSION)
             {
                 response.state = THREAD_LOADING_STATE__ReadyForLoading;
-                last = true;
             }
         }
         else
@@ -1101,32 +1099,30 @@ uint32_t ThreadLoadingReport(void)
             response.state = THREAD_LOADING_STATE__PreparationError;
             response.errorreason = LoadErrorMsg;
         }
-        responseContainer = createContainer(MESSAGE_TYPE__StartThreadLoadingResponse, ThreadLoadingToken, last, &response, &start_thread_loading_response__pack, &start_thread_loading_response__get_packed_size);
-        responseContainer.continuous = true;
     }
     else if (MessageState == 2)
     {
-        Cresponse.has_state = true;
+        response.has_state = true;
         if (LoadStatus == OK)
         {
-            Cresponse.state = THREAD_LOADING_STATE__Finalizing;
+            response.state = THREAD_LOADING_STATE__Finalizing;
             if (LoadStages >= THREAD_LOAD_JOG_THREAD)
             {
-                Cresponse.state = THREAD_LOADING_STATE__Completed;
+                response.state = THREAD_LOADING_STATE__Completed;
                 last = true;
             }
         }
         else
         {
-            Cresponse.state = THREAD_LOADING_STATE__FinalizationError;
-            Cresponse.errorreason = LoadErrorMsg;
+            response.state = THREAD_LOADING_STATE__FinalizationError;
+            response.errorreason = LoadErrorMsg;
         }
-        responseContainer = createContainer(MESSAGE_TYPE__ContinueThreadLoadingResponse, ThreadLoadingToken, last, &Cresponse, &continue_thread_loading_response__pack, &continue_thread_loading_response__get_packed_size);
-        responseContainer.continuous = true;
     }
     else return ERROR;
 
     //-------------------------------------------------------------------------------------------
+    responseContainer = createContainer(MESSAGE_TYPE__StartThreadLoadingResponse, ThreadLoadingToken, last, &response, &start_thread_loading_response__pack, &start_thread_loading_response__get_packed_size);
+    responseContainer.continuous = true;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     my_free(responseContainer.data.data);
@@ -1149,9 +1145,16 @@ uint32_t StartThreadLoadingFunc(MessageContainer* requestContainer)
 uint32_t ContinueThreadLoadingFunc(MessageContainer* requestContainer)
 {
     ContinueThreadLoadingRequest *request = continue_thread_loading_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-    ustrncpy (ThreadLoadingToken, requestContainer->token,36);
+    ContinueThreadLoadingResponse Cresponse = CONTINUE_THREAD_LOADING_RESPONSE__INIT;
+    MessageContainer responseContainer;
     MessageState = 2;
     ThreadLoadingReport();
+    responseContainer = createContainer(MESSAGE_TYPE__ContinueThreadLoadingResponse, requestContainer->token, true, &Cresponse, &continue_thread_loading_response__pack, &continue_thread_loading_response__get_packed_size);
+    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(responseContainer.data.data);
+    SendChars((char*)container_buffer, container_size);
     return OK;
 
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index f0331b4bc..dd31e9cda 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -722,6 +722,9 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
     JobCounter = 0;
     TotalProcessedLength = 0.0;
     PoolerTotalProcessedLength = 0.0;
+    InitialProcess = true;
+    initialpos = 0xFFFF;
+    Poolerinitialpos = 0xFFFF;
     PrepareState = true;
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,false);
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,false);
@@ -853,9 +856,6 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
 #endif
     PrepareReady(Module_Thread,ModuleDone);
     //set 3 dancers to the profile positions
-    InitialProcess = true;
-    initialpos = 0xFFFF;
-    Poolerinitialpos = 0xFFFF;
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
index c5c092ae4..65c124cbd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
@@ -371,10 +371,10 @@ bool SetValveDirection()
 U8 CartridgeWasteFilling(bool status)
 {
     bool ret = notOK;
-    SetValveDirection();
+    //SetValveDirection();
     if ((status == ON) && (WHS_info.active_cartridge != no_waste_cartridge))
     {
-        //SetValveDirection();//Valve_Set(VALVE_WASTE_TANK, WHS_info.active_cartridge); //set the valve direction
+        SetValveDirection();//Valve_Set(VALVE_WASTE_TANK, WHS_info.active_cartridge); //set the valve direction
         //Pannel_Leds(PANEL_BUTTON_OR_CRAT_ID Pannel_Led_Id, OPERATION_MODE LED_Mode); //set cartridge led color slow blink
         SetWastePump(OPEN);
         //WHS_info.WHS_pump.time = 0;
@@ -385,7 +385,7 @@ U8 CartridgeWasteFilling(bool status)
     else // stop Waste cartridge filling
     {
         SetWastePump(CLOSE);
-        //Valve_Set(VALVE_WASTE_TANK, VALVE_DIR_WAST_CARTRIDGE1);  //set the valve direction set to low POWER !!!
+        Valve_Set(VALVE_WASTE_TANK, VALVE_DIR_WASTE_CARTRIDGE1);  //set the valve direction set to low POWER !!!
         AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
 
         switch (WHS_info.active_cartridge)
@@ -498,7 +498,7 @@ bool initWHS_WasteTank()
     WHS_info.WHS_sensors.waste_tank_empty_sensor = RdWasteTankEmptySensor();
     WHS_info.WHS_sensors.waste_tank_full_sensor =  SENSORnotFULL;
     UpdateStateMachine();
-    AddControlCallback(NULL,WasteTankCBFunction, WasteTankCallBackTime , WasteTankCallBackFunction, 0,0,0);//eOneMinute
+    AddControlCallback("Waste tank",WasteTankCBFunction, WasteTankCallBackTime , WasteTankCallBackFunction, 0,0,0);//eOneMinute
     return OK;
 }
 
@@ -569,14 +569,6 @@ WHS_sensor WasteTankCallBackFunction()
     return ret;
 }
 
-/*
-bool start_WHS_machin()
-{
-    AddControlCallback( WasteTankCBFunction,  eTenMillisecond, WasteTankCallBackFunction, 0,0,0 );// eOneMinute
-    return OK;
-}
- */
-
 bool WasteTankCBFunction()
 {
 
@@ -744,7 +736,7 @@ bool WasteTankCBFunction()
                     MidTankValvesAction(Cartridge_MidTank_ON);
                     // test the Mid-tank capacity is not at Nadav sequence
                     // Enable_MidTank_Pressure_Reading(IFS_info.Ink.cart_color);
-                    MidTank_Pressure = Read_MidTank_Pressure_Sensor(IFS_info.Ink.cart_color);
+                    MidTank_Pressure = Get_MidTank_Pressure_Sensor(IFS_info.Ink.cart_color);
                     if ( MidTank_Pressure > MidTank_Pressure_EMPTY )
                     {
                         ReportWithPackageFilter(WasteFilter,"------------ close door  MidTank_Pressure > MidTank_Pressure_EMPTY -----------------", __FILE__,__LINE__,(MidTank_Pressure_EMPTY), RpMessage, (int)(MidTank_Pressure*1000), 0);
@@ -932,7 +924,7 @@ bool WasteTankCBFunction()
             REPORT_MSG(WHS_full," ------------ call customer support ----------------- ");
             Pannel_Leds(CART_1, MODE_ON);
             cart1.color = fastBILNK;
-            //IFS_TimeOutAlarm();
+            IFS_TimeOutAlarm(true);
             break;
 
         case IFS_MidTankFull:
@@ -1172,11 +1164,11 @@ bool InitCartStatus()
     if (WHS_info.WHS_sensors.cartridge_cover == WHS_CartridgeCoverOPEN)
     {
         REPORT_MSG(parameter," ------------ WHS_CartridgeCoverOPEN  : add callback for cart1 and cart 2   ----------------- ");
-        IFS_info.Cartridge_Ink_device_Id = AddControlCallback(NULL, WasteTankCBFunction, eOneSecond, CartridgeInkCallBackFunction, 0,0,0 );
-        WHS_info.Cartridge_Waste1_device_Id = AddControlCallback(NULL, WasteTankCBFunction, eOneSecond, CartridgeWaste1CallBackFunction, 0,0,0 );
-        WHS_info.Cartridge_Waste2_device_Id = AddControlCallback(NULL, WasteTankCBFunction, eOneSecond, CartridgeWaste2CallBackFunction, 0,0,0 );
+        IFS_info.Cartridge_Ink_device_Id    = AddControlCallback("Ink Cartridge CB"   , WasteTankCBFunction, eOneSecond, CartridgeInkCallBackFunction   , 0,0,0 );
+        WHS_info.Cartridge_Waste1_device_Id = AddControlCallback("Waste1 Cartridge CB", WasteTankCBFunction, eOneSecond, CartridgeWaste1CallBackFunction, 0,0,0 );
+        WHS_info.Cartridge_Waste2_device_Id = AddControlCallback("Waste2 Cartridge CB", WasteTankCBFunction, eOneSecond, CartridgeWaste2CallBackFunction, 0,0,0 );
     }
-    WHS_info.Cartridge_Cover_device_Id = AddControlCallback(NULL, WasteTankCBFunction, eOneSecond, CartridgeCoverCallBackFunction, 0,0,0 );
+    WHS_info.Cartridge_Cover_device_Id = AddControlCallback("Cartridge Cover Door", WasteTankCBFunction, eOneSecond, CartridgeCoverCallBackFunction, 0,0,0 );
 
     return OK;
 }
@@ -1216,22 +1208,27 @@ bool SetActiveWastCartridge()
     uint8_t parameter = 5;
 
     bool ret = notOK;
-    if (( WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == PRECENSE ) &&
-            (WHS_info.cartridge_1.autheticate == PASSED))
+    if (( WHS_info.WHS_sensors.waste_cartridge1_precense_sensor == PRECENSE )
+         &&   (WHS_info.cartridge_1.autheticate == PASSED)
+         &&   (WHS_info.cartridge_1.status == WasteEmpty))
         {
             REPORT_MSG(parameter," ------------  WHS : active_cartridge = waste_cartridge  1   ----------------- ");
             WHS_info.active_cartridge = waste_cartridge1;
+            AlarmHandlingSetAlarm( EVENT_TYPE__NO_WASTE_CARTRIDGE_AVAILABLE,  false);
         }
-    else if (( WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == PRECENSE) &&
-            (WHS_info.cartridge_2.autheticate == PASSED))
+    else if (( WHS_info.WHS_sensors.waste_cartridge2_precense_sensor == PRECENSE)
+            && (WHS_info.cartridge_2.autheticate == PASSED)
+            && (WHS_info.cartridge_2.status == WasteEmpty))
         {
             REPORT_MSG(parameter," ------------  WHS : active_cartridge = waste_cartridge  2   ----------------- ");
             WHS_info.active_cartridge = waste_cartridge2;
+            AlarmHandlingSetAlarm( EVENT_TYPE__NO_WASTE_CARTRIDGE_AVAILABLE,  false);
         }
     else
         {
             REPORT_MSG(parameter," ------------  WHS : NO active_cartridge   ----------------- ");
             WHS_info.active_cartridge = no_waste_cartridge;
+            AlarmHandlingSetAlarm( EVENT_TYPE__NO_WASTE_CARTRIDGE_AVAILABLE,  true);
         }
     return ret;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.c
new file mode 100644
index 000000000..d9801f179
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.c
@@ -0,0 +1,48 @@
+
+
+
+
+#include "include.h"
+#include <DataDef.h>
+#include <Modules/Waste/newWHS_init.h>
+
+#include <Drivers/I2C_Communication/WHS_Card/IO_Ports_TCA9555/WHS_IO.h>
+#include <Drivers/I2C_Communication/WHS_Card/IO_Ports_TCA9555/TCA9555_Driver.h>
+#include <Drivers/I2C_Communication/WHS_Card/I2C_WHS_Mux.h>
+#include <Drivers/I2C_Communication/I2C.h>
+#include "Drivers/I2C_Communication/WHS_Card/WHS_data.h"
+#include <Drivers/I2C_Communication/WHS_Card/EEPROM/WHS_EEPROM.h>
+#include <Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan/WHS_Fan.h>
+#include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC/Max_5805.h>
+bool test_9555(void);
+
+
+bool newWHS_init(void)
+{
+    bool status = OK;
+//    status = Select_Main_WHS_Mux_Channel();
+    status |= WHS_IO_Init();
+    if (Test_WHS_EEPROM()!= OK)
+    {
+        ReportWithPackageFilter(WasteFilter,"------------ Test_WHS_EEPROM U32: test is failed-----------------", __FILE__,__LINE__,0, RpMessage, 0, 0);
+    }
+    status = Test_WHS_Fan();
+    status = Test_WHS_blower();
+    status |= Test_WHS_valve();
+    status |= Test_WHS_pump();
+
+    //test_9555();
+    return status;
+}
+
+
+bool test_9555(void)
+{
+    bool status = OK;
+
+    status = D_TCA9555_Write_IO(I2C_ID_WHS_CARD, I2CExp1_ADDRESS, TCA9555_PORT_0,  Whs_I2C_EXP_U3_0x40_VALUE.uchar[0]);
+
+    return status;
+}
+
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.h b/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.h
new file mode 100644
index 000000000..ca2894499
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.h
@@ -0,0 +1,20 @@
+/*
+ * newWHS_init.h
+ *
+ *  Created on: Dec 11, 2019
+ *      Author: Shai
+ */
+
+#ifndef newWHS_init_H_
+#define newWHS_init_H_
+
+//#include <Drivers/I2C_Communication/WHS_Card/IO_Ports_TCA9555/TCA9555_Driver.h>
+//#include <Drivers/I2C_Communication/WHS_Card/WHS_data.h>
+
+
+
+
+bool newWHS_init(void);
+
+
+#endif