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

10 files changed, 119 insertions, 135 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 127ccbabf..e736d45ea 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -1,3 +1,4 @@
+
 /*
  * AlarmHandling.c
 
@@ -491,14 +492,14 @@ uint32_t AlarmHandlingLoadFile(void)
                 {
                     FileAlarmItem[F_count].AlarmDirection = AlarmParametersTable->alarmitem[i]->alarmdirection;
                     FileAlarmItem[F_count].AlarmDirection =  AlarmParametersTable->alarmitem[i]->alarmdirection;
-                    FileAlarmItem[F_count].Frequency =       AlarmParametersTable->alarmitem[i]->frequency;  //1/10/100/1000
+                    //FileAlarmItem[F_count].Frequency =       AlarmParametersTable->alarmitem[i]->frequency;  //1/10/100/1000
                     FileAlarmItem[F_count].AlarmSource =     AlarmParametersTable->alarmitem[i]->alarmsource;
                     FileAlarmItem[F_count].DeviceId =        AlarmParametersTable->alarmitem[i]->deviceid;
                     FileAlarmItem[F_count].ModuleDeviceId =  AlarmParametersTable->alarmitem[i]->moduledeviceid;
                     FileAlarmItem[F_count].AlarmValue =      AlarmParametersTable->alarmitem[i]->alarmvalue;
                     FileAlarmItem[F_count].AlarmDirection =  AlarmParametersTable->alarmitem[i]->alarmdirection;
                     FileAlarmItem[F_count].Severity =        AlarmParametersTable->alarmitem[i]->severity;
-                    FileAlarmItem[F_count].Predecessor =     AlarmParametersTable->alarmitem[i]->predecessor;
+                    //FileAlarmItem[F_count].Predecessor =     AlarmParametersTable->alarmitem[i]->predecessor;
                     FileAlarmItem[F_count].DebounceValue =   AlarmParametersTable->alarmitem[i]->debouncevalue;
                     FileAlarmItem[F_count].EventType =       AlarmParametersTable->alarmitem[i]->eventtype;
                     FileAlarmItem[F_count].isPersistent =    AlarmParametersTable->alarmitem[i]->ispersistent;
@@ -1080,7 +1081,7 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
         if (AlarmItem[Alarm_i].EventType == AlarmId)
         {
             //if (0) // PERSISTENT ALARM
-  			if ((AlarmItem[Alarm_i].isPersistent == true)) // PERSISTENT ALARM simulate
+  			if ((AlarmItem[Alarm_i].isPersistent == true)&&(value == true)) // PERSISTENT ALARM simulate   Currently looking for "true" value, otherwise the currently existing OFF event appears
             {
                 if (PersistentEventsResponse.events == NULL)
                     PersistentEventsResponse.events = (Event **)my_malloc(sizeof(Event*)*(PersistentEventsResponse.n_events+1));
@@ -1213,29 +1214,8 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
         if (AlarmItem[Alarm_i].AlarmSource > ALARM_SOURCE_TYPE__FluidLevelAlarm)
             continue;
         AlarmCounter++;
-        if (tick%AlarmItem[Alarm_i].Frequency == 0)
+        switch (AlarmItem[Alarm_i].AlarmSource)
         {
-            switch (AlarmItem[Alarm_i].AlarmSource)
-            {
-            /*case ALARM_SOURCE_TYPE__TemperatureAlarm:
-                ivalue = MillisecGetTemperatures((TEMPERATURE_SENSOR_ID_ENUM)AlarmItem[Alarm_i].DeviceId);
-                if (AlarmItem[Alarm_i].AlarmDirection == true)
-                {
-                    if (ivalue/100 >= AlarmItem[Alarm_i].AlarmValue)
-                    {
-                        //LOG_ERROR (ivalue/100,"Temperature spike");
-                        Status = true;
-                    }
-                }
-                else
-                {
-                    if (ivalue/100 <= AlarmItem[Alarm_i].AlarmValue)
-                    {
-                        //LOG_ERROR (ivalue/100,"iTemperature spike");
-                        Status = true;
-                    }
-                }
-                break;*/
             case ALARM_SOURCE_TYPE__CoversAlarm:
                 if (CheckTamperAlarms)
                 {
@@ -1261,14 +1241,6 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                 if (CheckHardLimitAlarms)
                 {
                     Status =  AlarmState[Alarm_i].Status;
-                    /*if (AlarmItem[Alarm_i].AlarmDirection == true)
-                    {
-                        value = Get_Notification_Disp_UP(AlarmItem[Alarm_i].DeviceId);
-                    }
-                    else
-                    {
-                        value = Get_Notification_Disp_Down(AlarmItem[Alarm_i].DeviceId);
-                    } polling in the safety */
                 }
                 else
                 {
@@ -1422,21 +1394,6 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                             default:
                                 Status = false;
                         }
-                        /*value = MotorGetStatus((TimerMotors_t)AlarmItem[Alarm_i].DeviceId);
-                        if (AlarmItem[Alarm_i].AlarmDirection == true)
-                        {
-                            if (value && AlarmItem[Alarm_i].AlarmValue)
-                            {
-                                Status = true;
-                            }
-                        }
-                        else
-                        {
-                            if ((value && AlarmItem[Alarm_i].AlarmValue)==false)
-                            {
-                                Status = true;
-                            }
-                        }*/
                     }
                 }
                 else
@@ -1473,7 +1430,7 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
 
             case ALARM_SOURCE_TYPE__TachoAlarm: // add by shai
                 Status = false;
-                if (CheckTamperAlarms)
+                if (CheckMotorAlarms)
                 {
 
 //                ReportWithPackageFilter(AlarmFilter,"------------FANS_RPM[Alarm_i]----------------", __FILE__,__LINE__,Alarm_i, RpMessage, value, 0);
@@ -1560,16 +1517,19 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                             }
                             else
                             {
-                                value = Read_Dryer_Fan_Tacho();
+
+                                value = Get_Dryer_Fan_Tacho();
                                 if (AlarmItem[Alarm_i].Severity == DEBUG_LOG_CATEGORY__Critical )
-                                    if ((AlarmItem[Alarm_i].AlarmDirection == UNDER_VALUE) && (value == DRYER_FAN_STOP))
+                                {
+                                    if (value == DRYER_FAN_STOP)
                                     {
                                         Status = true;
-                                        //ReportWithPackageFilter(AlarmFilter,"----------- DRYER FAN RPM Error----------------", __FILE__,__LINE__,0, RpMessage, value, 0);
                                     }
+                                    //ReportWithPackageFilter(AlarmFilter,"----------- DRYER FAN RPM ----------------", __FILE__,__LINE__,msec_millisecondCounter, RpMessage, value, 0);
+                                }
                                 else if (AlarmItem[Alarm_i].Severity ==  DEBUG_LOG_CATEGORY__Warning)
                                 {
-                                    if ((AlarmItem[Alarm_i].AlarmDirection == UNDER_VALUE) && (value < DRYER_FAN_MIN_RPM))
+                                    if ((value>0)&&(value < DRYER_FAN_MIN_RPM))
                                     {
                                         Status = true;
                                         //ReportWithPackageFilter(AlarmFilter,"----------- DRYER FAN RPM Error----------------", __FILE__,__LINE__,0, RpMessage, value, 0);
@@ -1621,78 +1581,77 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                 break;
             default:
                 break;
-            } //switch
-            if (AlarmItem[Alarm_i].DebounceValue > 0) //handle debouncing
+        } //switch
+        if (AlarmItem[Alarm_i].DebounceValue > 0) //handle debouncing
+        {
+            if (Status == true) //increase counter
             {
-                if (Status == true) //increase counter
+                AlarmState[Alarm_i].DebounceCounter++;
+                if (AlarmState[Alarm_i].Status == false) // alarm is not set yet
                 {
-                    AlarmState[Alarm_i].DebounceCounter++;
-                    if (AlarmState[Alarm_i].Status == false) // alarm is not set yet
+                    if (AlarmState[Alarm_i].DebounceCounter < AlarmItem[Alarm_i].DebounceValue) //had not reached the debounce value
                     {
-                        if (AlarmState[Alarm_i].DebounceCounter < AlarmItem[Alarm_i].DebounceValue) //had not reached the debounce value
-                        {
-                            Status = false; //do not set the alarm
-                        } //else alarm will be set
-                    }
-                    else // alarm is already set
-                    {
-                        AlarmState[Alarm_i].DebounceCounter = AlarmItem[Alarm_i].DebounceValue; // do not go over the debounce value
-                    }
+                        Status = false; //do not set the alarm
+                    } //else alarm will be set
                 }
-                else //status  == false - decrease counter
+                else // alarm is already set
                 {
-                    AlarmState[Alarm_i].DebounceCounter--;
-                    if (AlarmState[Alarm_i].Status == true) // alarm is set
-                    {
-                        if (AlarmState[Alarm_i].DebounceCounter > 0) // had not reached zero yet
-                        {
-                            Status = true; // do not reset the alarm yet
-                        }   // else reset the alarm
-                    }
-                    else // if the alarm is off
-                    {
-                        AlarmState[Alarm_i].DebounceCounter = 0; //do not go below 0
-                    }
+                    AlarmState[Alarm_i].DebounceCounter = AlarmItem[Alarm_i].DebounceValue; // do not go over the debounce value
                 }
             }
-            /*if (AlarmItem[Alarm_i].Predecessor!=0xFF)
-            {
-                if (AlarmState[AlarmItem[Alarm_i].Predecessor].Status == true)  //higher hierarchy alarm is on
-                    Status = false;
-            }*/
-            if (Status !=  AlarmState[Alarm_i].Status) //change in alarm Status
+            else //status  == false - decrease counter
             {
-                if (Status == true) // alarm on
+                AlarmState[Alarm_i].DebounceCounter--;
+                if (AlarmState[Alarm_i].Status == true) // alarm is set
                 {
-                    // report the alarm!
-                    AlarmState[Alarm_i].EventPtr = my_malloc (sizeof(Event));
-                    if (AlarmState[Alarm_i].EventPtr)
+                    if (AlarmState[Alarm_i].DebounceCounter > 0) // had not reached zero yet
                     {
-                        event__init(AlarmState[Alarm_i].EventPtr);
-                        AlarmState[Alarm_i].EventPtr->has_type = true;
-                        AlarmState[Alarm_i].EventPtr->type = AlarmItem[Alarm_i].EventType;
-                        AlarmState[Alarm_i].EventPtr->message = NULL;//AlarmItem[Alarm_i].EventName;
-                    }
-                    AlarmState[Alarm_i].Status = true;
-                    AlarmHandlingConsequentActions(Alarm_i, AlarmItem[Alarm_i].Severity);
-                    ReportWithPackageFilter(AlarmFilter,"Alarm ON ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+                        Status = true; // do not reset the alarm yet
+                    }   // else reset the alarm
                 }
-                else // alarm off
+                else // if the alarm is off
                 {
-                    ReportWithPackageFilter(AlarmFilter,"Alarm OFF ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, 0, Alarm_i);
-                    if (AlarmState[Alarm_i].EventPtr)
-                    {
-                        //ROM_IntMasterDisable();
-                        Save_Alarm_i = Alarm_i;
-                        Save_Alarm_ptr = AlarmState[Alarm_i].EventPtr;
-                        Save_Alarm_Type = AlarmItem[Alarm_i].EventType;
-                        my_free(AlarmState[Alarm_i].EventPtr);
-                        AlarmState[Alarm_i].EventPtr = NULL;
-                        //ROM_IntMasterEnable();
-                    }
-                    AlarmState[Alarm_i].Status = false;
-                    AlarmHandlingConsequentActions(Alarm_i, DEBUG_LOG_CATEGORY__Info);
+                    AlarmState[Alarm_i].DebounceCounter = 0; //do not go below 0
+                }
+            }
+        }
+        /*if (AlarmItem[Alarm_i].Predecessor!=0xFF)
+        {
+            if (AlarmState[AlarmItem[Alarm_i].Predecessor].Status == true)  //higher hierarchy alarm is on
+                Status = false;
+        }*/
+        if (Status !=  AlarmState[Alarm_i].Status) //change in alarm Status
+        {
+            if (Status == true) // alarm on
+            {
+                // report the alarm!
+                AlarmState[Alarm_i].EventPtr = my_malloc (sizeof(Event));
+                if (AlarmState[Alarm_i].EventPtr)
+                {
+                    event__init(AlarmState[Alarm_i].EventPtr);
+                    AlarmState[Alarm_i].EventPtr->has_type = true;
+                    AlarmState[Alarm_i].EventPtr->type = AlarmItem[Alarm_i].EventType;
+                    AlarmState[Alarm_i].EventPtr->message = NULL;//AlarmItem[Alarm_i].EventName;
+                }
+                AlarmState[Alarm_i].Status = true;
+                AlarmHandlingConsequentActions(Alarm_i, AlarmItem[Alarm_i].Severity);
+                ReportWithPackageFilter(AlarmFilter,"Alarm ON ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+            }
+            else // alarm off
+            {
+                ReportWithPackageFilter(AlarmFilter,"Alarm OFF ", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, RpMessage, 0, Alarm_i);
+                if (AlarmState[Alarm_i].EventPtr)
+                {
+                    //ROM_IntMasterDisable();
+                    Save_Alarm_i = Alarm_i;
+                    Save_Alarm_ptr = AlarmState[Alarm_i].EventPtr;
+                    Save_Alarm_Type = AlarmItem[Alarm_i].EventType;
+                    my_free(AlarmState[Alarm_i].EventPtr);
+                    AlarmState[Alarm_i].EventPtr = NULL;
+                    //ROM_IntMasterEnable();
                 }
+                AlarmState[Alarm_i].Status = false;
+                AlarmHandlingConsequentActions(Alarm_i, DEBUG_LOG_CATEGORY__Info);
             }
         }
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 689219583..1057ddbc3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -610,21 +610,21 @@ uint32_t MillisecLowLoop(uint32_t tick)
     //call all modules Millisec functions
     //test dancers and speed encoders
     //check all callback units (state machine waiting for completion of a change)
-    bool Ten_msTick, Fifty_msTick, Hundred_msTick , m20msecTick,m70msecTick,m90msecTick, Onesecond_Tick,Tensecond_Tick,OneMinute_Tick,TenMinutes_Tick,OneHourTick,Gradient_Tick;
-    bool O700Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick;
+    bool Ten_msTick, Fifty_msTick, Hundred_msTick , m20msecTick,m90msecTick, Onesecond_Tick,Tensecond_Tick,OneMinute_Tick,TenMinutes_Tick,OneHourTick,Gradient_Tick;
+    bool O700Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick,O800Millisecond_Tick;
     //bool O100Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick,O800Millisecond_Tick,O900Millisecond_Tick;
     Ten_msTick      =   (tick%eTenMillisecond == 0)      ?true:false;
     Fifty_msTick      =   (tick%eHundredMillisecond == 40)      ?true:false; //eFiftyMillisecond
     Hundred_msTick  =   (tick%eHundredMillisecond == 0)  ?true:false;
     m20msecTick  =   (tick%eHundredMillisecond == 20)  ?true:false;
-    m70msecTick  =   (tick%eHundredMillisecond == 70)  ?true:false;
+    //m70msecTick  =   (tick%eHundredMillisecond == 70)  ?true:false;
     m90msecTick  =   (tick%eHundredMillisecond == 90)  ?true:false;
     O700Millisecond_Tick  =   (tick%eOneSecond == 700)           ?true:false;
     O200Millisecond_Tick  =   (tick%eOneSecond == 200)           ?true:false;
     O400Millisecond_Tick  =   (tick%eOneSecond == 400)           ?true:false;
     O500Millisecond_Tick  =   (tick%eOneSecond == 500)           ?true:false;
     O600Millisecond_Tick  =   (tick%eOneSecond == 600)           ?true:false;
-    //O800Millisecond_Tick  =   (tick%eOneSecond == 800)           ?true:false;
+    O800Millisecond_Tick  =   (tick%eOneSecond == 800)           ?true:false;
     //O900Millisecond_Tick  =   (tick%eOneSecond == 900)           ?true:false;
     Gradient_Tick  =   (tick%400 == 0)           ?true:false;
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
@@ -660,10 +660,10 @@ uint32_t MillisecLowLoop(uint32_t tick)
         Trigger_PT100_Read();//call every 50mSec (minimum delay 30mSec)
         //Set_HeadCard_PT100();//call every 50mSec (minimum delay 30mSec)
     }
-    if(m70msecTick)
+    /*if(m70msecTick)
     {
         AlarmHandling_ControlTrigger(0,0);
-    }
+    }*/
     if (m90msecTick)
     {
         for (Sensor_i = StartPT100;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
@@ -717,14 +717,11 @@ uint32_t MillisecLowLoop(uint32_t tick)
     }
     if (Gradient_Tick)
         DispensersCollectionCall();
-    if (O700Millisecond_Tick)
-    {
-        Trigger_Heater_Current_Read();
-    }
     if (O200Millisecond_Tick)
     {
         Trigger_WHS_MAX11614_Read_allADC();
         FPGA_GetAllDispensersValveBusyOCD();
+        Read_Dryer_Fan_Tacho();
         temp = Read_Fans_Tacho();
         DrawerFansStatus = temp & 0x1F;
         SystemFansStatus = temp & 0xE0;
@@ -755,6 +752,14 @@ uint32_t MillisecLowLoop(uint32_t tick)
             }
         }
     }
+    if (O700Millisecond_Tick)
+    {
+        Trigger_Heater_Current_Read();
+    }
+    if (O800Millisecond_Tick)
+    {
+        AlarmHandling_ControlTrigger(0,0);
+    }
     if (Onesecond_Tick)
     {
         //char Lenstr[160];
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 4538d0336..872f772e2 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -41,8 +41,7 @@ double dryerairflow = 5.0;
 double pressurebuildup = 0;
 double dryerzone1temp = 0;
 int32_t tableindex = 0;
-double headBlowersFlow[2] = {1.0,1.0};
-double ArcCleaningMotorSpeed = 0.0;
+double headBlowersFlow[2] = {1.5,1.5};
 
 double dryerbufferMeters = 0;
 double dryerbufferCentimeters = 0;
@@ -134,6 +133,10 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
         {
             if (ProcessParams->has_headairflow == false)
                 ProcessParams->headairflow = headairflow;
+            if (ProcessParams->has_lblowerflow == false)
+                ProcessParams->lblowerflow = headBlowersFlow[HEAD_FAN_LEFT];
+            if (ProcessParams->has_rblowerflow == false)
+                ProcessParams->rblowerflow = headBlowersFlow[HEAD_FAN_RIGHT];
             if (ProcessParams->has_feedertension == false)
                 ProcessParams->feedertension = feedertension;
             if (ProcessParams->has_windertension == false)
@@ -159,7 +162,6 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
     dryerairflow = ProcessParams->dryerairflow;
     pressurebuildup = ProcessParams->pressurebuildup;
     dryerzone1temp = ProcessParams->dryerzone1temp;
-    ArcCleaningMotorSpeed = ProcessParams->archeadcleaningmotorspeed;
 
     if (MachineReadyForHeating == false)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.h b/Software/Embedded_SW/Embedded/Modules/General/process.h
index 4a1583aa8..f7f16d11e 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.h
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.h
@@ -20,7 +20,6 @@ extern double dryerairflow;
 extern double pressurebuildup;
 extern double dryerzone1temp;
 extern double headBlowersFlow[2];
-extern double ArcCleaningMotorSpeed;
 
 extern int32_t tableindex;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
index 69ac7fbb3..59a0aee51 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
@@ -51,7 +51,7 @@
 #define ARC_ALARM_LIMIT 3
 
 #define PRESSURE_SENSOR_CP  0.269
-#define PRESSURE_SENSOR_B  1.6668
+#define PRESSURE_SENSOR_B   0.45
 extern uint16_t Head_Fan_Tach[2];
 extern uint8_t Head_Fan_PWM_Command[2];
 
@@ -316,14 +316,15 @@ void HeadBlowersControlLoop ()
     int blowerId;
     static int count[2] = {0, 0};
 
-    ArcHeadAlarms();
-
     if (GetMachineState() < MACHINE_STATE_WAIT_FOR_COOLER)
         return; //do not start before controller is initialized and running
 
     if (!HeadBlowersEnable) {
         return;
     }
+
+    ArcHeadAlarms();
+
     for (blowerId = 0; blowerId <= 1; blowerId++) {
         if (count[blowerId] == HeadBlowersCloseLoopTime[blowerId]) {
             count[blowerId] = 0;
@@ -377,7 +378,9 @@ double PressureSensorGetPressure(uint8_t SensorId)
     V0 = PressureSensorV0[FanId];
     Vm = (double)(MillisecGetTemperatures(SensorId));
     Vm /= 10.0;
-    Q = (sqrt(Vm - V0 + 22) - PRESSURE_SENSOR_B) * PRESSURE_SENSOR_CP;
+    if ((Vm - V0 + 22)<0)
+        return 0.0;
+    Q = sqrt(Vm - V0 + 22) * PRESSURE_SENSOR_CP - PRESSURE_SENSOR_B;
     return Q;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index e702d7072..84013add6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -560,8 +560,8 @@ uint32_t HeatersSingleHeaterEnd(int HeaterId)
             }
             DeActivateHeater(HEATER_TYPE__DryerMainHeater);
             DeActivateHeater(HEATER_TYPE__DryerSecondaryHeater);
-            //Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerMainHeater]);
-            //Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerSecondaryHeater]);
+            Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerMainHeater]);
+            Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerSecondaryHeater]);
             HeaterPIDConfig[HeaterId].m_SetParam = 0;
             HeaterCmd[HeaterId].targettemperatue = 0;
             HeaterReady[HeaterId] = true;
@@ -1449,8 +1449,8 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                 }
             }*/
             HeaterReady[index] = true;
-            //Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerMainHeater]);
-            //Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerSecondaryHeater]);
+            Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerMainHeater]);
+            Disable_Reading_Heaters_Current(HeaterId2CurrentId[HEATER_TYPE__DryerSecondaryHeater]);
 
         }
         return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index 1c17c4f6b..d86d7ab2d 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -16,6 +16,7 @@ extern uint32_t InitialDispenserSpeed;
 extern double   InitialDispenserPressure;
 extern uint32_t InitialDispenserTimeout;
 
+extern double ArcCleaningMotorSpeed;
 
 
 extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index 0e28134c4..0ae017c13 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -19,7 +19,7 @@
 #include "drivers/motors/motor.h"
 #include "drivers/valves/valve.h"
 #include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
-
+double ArcCleaningMotorSpeed = 750;
 int SaveLeftRockerSpeed = 50, SaveRightRockerSpeed = 50;
 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 c8cab116f..5b6ad643d 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -795,6 +795,8 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
     {
         if (JobTicket->headcleaningparameters->has_cleanerflow)
                 cleanerFlow =  JobTicket->headcleaningparameters->cleanerflow;
+        if (JobTicket->headcleaningparameters->has_archeadcleaningmotorspeed)
+            ArcCleaningMotorSpeed =  JobTicket->headcleaningparameters->archeadcleaningmotorspeed;
     }
     if ((cleanerFlow>200)&&(cleanerFlow<1150))
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index b9b916eb6..5b216d25c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -1233,6 +1233,19 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         response.has_progress = true;
     }
     else
+    if(request->amount == 0xB23)  //Set loading arm cycles
+    {
+        REPORT_MSG(request->delay,"Control dryer fan tacho");
+        if (request->delay>0)
+            Control_Dryer_Fan(START,request->delay);//use START or STOP,  0 - 100%();
+        else
+            Control_Dryer_Fan(STOP,0);//use START or STOP,  0 - 100%();
+        Task_sleep(1000);
+
+        response.progress = (double)Get_Dryer_Fan_Tacho();
+        response.has_progress = true;
+    }
+    else
     if(request->amount == 0xC3)  //suspend I2C task
     {
         if (request->delay == 0)