Version 1.4.2.8 improved loading, cleaning introduced, time handled

11 files changed, 93 insertions, 33 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index 2ef74c7b6..1d427a7a5 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,4,2,7};
+TangoVersion_t _gTangoVersion = {1,4,2,8};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
index e22291963..d1143ada2 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
@@ -12,6 +12,7 @@
 //#include <driverlib/systick.h>
 #include "driverlib/hibernate.h"
 #include <driverlib/Watchdog.h>
+#include <ti/sysbios/hal/Seconds.h>
 
 //*****************************************************************************
 
@@ -138,9 +139,14 @@ void utilsInit(uint32_t ui32SysClock)
     // Configure the hibernate module counter to RTC counter mode.
     HibernateCounterMode(HIBERNATE_COUNTER_RTC);
 
+#define  STARTTIME  1564403262
+    Seconds_set(STARTTIME);
 
 }
-
+void utilsUpdateDateTime(uint32_t StartTime)
+{
+    Seconds_set(StartTime);
+}
 
 uint32_t UsersysTickGet (void) {
     uint32_t tick = 0;
diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.h b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.h
index 37eade5c4..b54453e2c 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.h
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.h
@@ -22,6 +22,7 @@ typedef enum
 
 
 void utilsInit(uint32_t ui32SysClock);
+void utilsUpdateDateTime(uint32_t StartTime);
 uint32_t UsersysTickGet (void);
 bool DanserCheckPosition(uint16_t position , Danser_t danser, bool test);
 void InitWatchdog(uint32_t clock);
diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.c b/Software/Embedded_SW/Embedded/Communication/Connection.c
index 50f23d26e..cfcfc6658 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.c
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.c
@@ -60,6 +60,7 @@ void ConnectionRequest(MessageContainer* requestContainer)
 	char AssyVersion[30] = {0};
     response.deviceinformation = &DevInfo;
 
+    utilsUpdateDateTime(1564403262);//(request->seconds);
     /*
     extern TangoVersion_t _gTangoVersion;
     extern char Dat[50];
diff --git a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/fatfs_port_mx66l51235f.c b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/fatfs_port_mx66l51235f.c
index 79f232655..0eccc7601 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/fatfs_port_mx66l51235f.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/fatfs_port_mx66l51235f.c
@@ -23,6 +23,7 @@
 #include "driverlib/ssi.h"
 #include "driverlib/gpio.h"
 #include "inc/hw_memmap.h"
+#include <time.h>
 
 //#include <ti/mw/fatfs/ff.h>
 //#include <ti/mw/fatfs/ffcio.h>
@@ -198,8 +199,9 @@ void disk_timerproc (void)
 
 DWORD get_fattime (void)
 {
-    return miliseconds / 1000;
-
+    //return miliseconds / 1000;
+    DWORD t = (DWORD)time(NULL);
+    return t;
 
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index e2b0ed701..52f62ed5a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -27,6 +27,7 @@
 #include "drivers/FPGA/FPGA_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/SSI_Comm/Dancer/Dancer.h"
+#include "drivers/Flash_ram/MCU_E2Prom.h"
 
 /////////////////////////
 #include "driverlib/ssi.h"
@@ -223,10 +224,15 @@ uint32_t MotorVerifiedCallBackFunction(uint32_t IfIndex, uint32_t ArmPosition) /
        MotorStop(MotorId,Hard_Hiz );
        Task_sleep(5);
        MotorMove(MotorId,DrierBackLashDirection,DryerBackLash );
-       Task_sleep(5);
+       Task_sleep(100);
        if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
            MotorStop(MotorId,Hard_Stop );
+       Task_sleep(5);
+       Read_Dryer_ENC_Position(); //trigger the next call
+       Task_sleep(5);
        DrierZeroPosition = Read_Dryer_ENC_Position(); //trigger the next call
+       MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CENTER,DrierZeroPosition);
+
        Report("MotorVerifiedCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,DryerBackLash,0);
 
        //call the module callback
@@ -284,9 +290,10 @@ uint32_t MotorMoveToDrierPositionCallBackFunction(uint32_t IfIndex, uint32_t Rea
         Report("MotorMoveToDrierPositionCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,ReadValue,0);
         //CallbackCalls = 0;
     }
-
+    Read_Dryer_ENC_Position();
    //if (DrierZeroPosition == ReadValue) //thread running identified
    {
+       Report("MotorMoveToDrierPosition end",__FILE__,__LINE__,DrierZeroPosition,RpWarning,ReadValue,0);
        //stop this control loop
        SafeRemoveControlCallback(MotorControlId[MotorId], MotorControlCallback[MotorId] );
        MotorControlCallback[MotorId] = 0;
@@ -321,9 +328,9 @@ uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callb
     Task_sleep(5);
     Read_Dryer_ENC_Position();
     Task_sleep(5);
-    currentposition = Control_Read_Dryer_Position(0,0,0);
+    currentposition = Control_Read_Dryer_Position(0,0);
+    MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&DrierZeroPosition);
     Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,DrierZeroPosition,RpWarning,currentposition,0);
-
     if (currentposition > DrierZeroPosition)
     {
         direction = false;
@@ -341,6 +348,7 @@ uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callb
             direction = true;
         }
     }
+    Report("MotorMovetoEncoderPosition direction",__FILE__,__LINE__,direction,RpWarning,15,0);
 
     MotorSetDirection( MotorId, direction);
     MotorSetSpeed (MotorId, 15);
@@ -369,9 +377,19 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
         LOG_ERROR (IfIndex, "Wrong  Interface type");
         return 0xFFFFFFFF;
     }
-    MotorId = IfIndex&0xFF;
+    CallbackCalls++;
+    if (CallbackCalls%5 == 0)
+    {
+        Read_Dryer_ENC_Position();
+    }
+    if (CallbackCalls%5 == 1)
+    {
+        MotorId = Control_Read_Dryer_Position(0,0);
+        Report("MotorMoveCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,MotorId,0);
+    }
 
-       if (BusyFlag == NOTBUSY)
+    MotorId = IfIndex&0xFF;
+    if (BusyFlag == NOTBUSY)
        {
            //stop this control loop
            SafeRemoveControlCallback(MotorControlId[MotorId], MotorControlCallback[MotorId] );
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
index 7a843b1c1..2b3b33dff 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
@@ -12,7 +12,7 @@
 uint32_t Read_Dancer_Position (HardwareDancerType DancerId);
 uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1, uint32_t Parameter2);
 uint32_t Read_Dryer_ENC_Position ();
-uint32_t Control_Read_Dryer_Position(uint32_t DryerID, uint32_t Parameter1, uint32_t Parameter2);
+uint32_t Control_Read_Dryer_Position(uint32_t DryerID, uint32_t Parameter1);
 
 void Loop_SSI();
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index 212570462..186fef2f9 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -299,8 +299,11 @@ uint32_t IDS_Dispenser_Store_Data (void)
     ReadAppAndProgram(DISPENSERS_MAP_IN_FLASH+4, response_size, IDS_Dispenser_Data);
 
     Status = FileWrite(IDS_Dispenser_Data,response_size,DispenserStorePath,BIOS_NO_WAIT);
-    DispenserDataUpdated = false;
-    REPORT_MSG(msec_millisecondCounter - timing, "Updating dispensers file - time");
+    if (Status == FR_OK)
+    {
+        DispenserDataUpdated = false;
+        REPORT_MSG(msec_millisecondCounter - timing, "Updating dispensers file - time");
+    }
     return Status;
 }
 void IDS_Dispenser_Content_Calculation (char DispenserId)
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 9d708d959..ac6df3c42 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -67,9 +67,10 @@ bool         DispensersAlarmState[ MAX_SYSTEM_DISPENSERS] = {false,false,false,f
 int JobBrushStopId = 0;
 int lInterSegmentLength = 0;
  int InterSegmentStepsLimit = 0,InterSegmentStepsCount = 0;
- uint32_t InterSegmentStartSprayCleaner;
- uint32_t InterSegmentStartRocking;
- uint32_t InterSegmentCenterRockers;
+
+ uint32_t InterSegmentStartSprayCleaner = 0;
+ uint32_t InterSegmentStartRocking = 0;
+ uint32_t InterSegmentCenterRockers = 0;
  uint32_t LeftRockerSpeed = 20;
  uint32_t RighttRockerSpeed = 20;
  uint32_t CleaningDispenserSpeed = 40;
@@ -805,20 +806,20 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
      }
      if (EnableCleaning == true)
      {
-         if (InterSegmentStartSprayCleaner == InterSegmentStepsCount)
+         if (( InterSegmentStartSprayCleaner )&&(InterSegmentStartSprayCleaner == InterSegmentStepsCount))
          {
              Report("Start Spray Cleaner",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
-             //IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback);
+             IDS_Cleaning_Spray_Cleaning_Solution (CleaningDispenserSpeed,NULL);
          }
-         if (InterSegmentStartRocking == InterSegmentStepsCount)
+         /*if (InterSegmentStartRocking == InterSegmentStepsCount)
          {
              Report("Start cleaning rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
              //IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed);
-         }
-         if (InterSegmentCenterRockers == InterSegmentStepsCount)
+         }*/
+         if (( InterSegmentCenterRockers)&&(InterSegmentCenterRockers == InterSegmentStepsCount))
          {
              Report("Stop spray and center rockers",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
-             //IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
+             IDS_Cleaning_Stop_Cleaning_Solution (NULL);
              //IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callback);
          }
      }
@@ -962,12 +963,12 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
                 return ERROR;
             }
             Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)IntersegmentLength,0);
-            if (EnableCleaning == true)
+            /*if (EnableCleaning == true)
             {
                 InterSegmentStartSprayCleaner = 500;
                 InterSegmentStartRocking = 1000;
                 InterSegmentCenterRockers = 3000;
-            }
+            }*/
 
             InterSegmentStartWFCFDispensers = (lInterSegmentLength>5000)?lInterSegmentLength-5000:lInterSegmentLength;
         }
@@ -1310,12 +1311,12 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
              return ERROR;
          }
          Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)IntersegmentLength,0);
-         if (EnableCleaning == true)
+         /*if (EnableCleaning == true)
          {
              InterSegmentStartSprayCleaner = 500;
              InterSegmentStartRocking = 1000;
              InterSegmentCenterRockers = 3000;
-         }
+         }*/
          InterSegmentStartWFCFDispensers = 0;
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index d3a9b96ef..efb3f99a9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -232,6 +232,16 @@
         //Use Notation How Many Rotations In The Drier, Or Check Against Stopper. Move Slowly
         return OK;
     }
+    uint32_t Thread_Load_Jog_Feeder_To_Middle_Point_Callback(uint32_t deviceID, uint32_t BusyFlag)
+    {
+        {
+            Report("Thread_Load_Jog_Feeder_To_Middle_Point_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+            //storeLoadArmParameters();
+            LoadStages++;
+            ThreadLoadStateMachine(LoadStages);
+        }
+        return OK;
+    }
 
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
@@ -396,13 +406,20 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 100, FEEDER_DANCER ,true, Thread_Load_HomingCallback,2000);
+        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 100, FEEDER_DANCER ,true, Thread_Load_Jog_Feeder_To_Middle_Point_Callback,2000);
         return OK;
     }
 
     uint32_t Thread_Load_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
+        Report("Thread_Load_Dryer_MovetoEncoderPosition_Callback",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
+        if(ControlId != 0xFF)
+        {
+            MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
+            RemoveControlCallback(ControlId, ThreadLoadControlCBFunction );
+            ControlId = 0xFF;
+        }
         if (CallbackCounter)
         {
             CallbackCounter--;
@@ -418,17 +435,18 @@
         else
             LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0");
 
+        return OK;
     }
     uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-        if(ControlId != 0xFF)
+        /*if(ControlId != 0xFF)
         {
             MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
             RemoveControlCallback(ControlId, ThreadLoadControlCBFunction );
             ControlId = 0xFF;
-        }
-        //REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id");
+        }*/
+        REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id");
         MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000);
         return OK;
     }
@@ -437,13 +455,14 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         LoadArmInfo.LoadArmRounds = 20;
-        uint32_t numberOfSteps = 0;
+        float numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         SetOriginMotorSpeed(19);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
         numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
+        //numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*3.3*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
         Report("Thread Load State Machine step.",__FILE__,LoadStages,numberOfSteps,RpMessage,(int)(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius),0);
         MotorControlConfig[FEEDER_MOTOR].m_params.MAX = 1;
         MotorControlConfig[FEEDER_MOTOR].m_params.MIN = MotorsControl[FEEDER_MOTOR].outputproportionalpowerlimit*-1;
@@ -534,7 +553,7 @@
         MotorControlConfig[POOLER_MOTOR].m_params.MIN = MotorsControl[POOLER_MOTOR].outputproportionalpowerlimit*-1;
         MotorControlConfig[POOLER_MOTOR].m_params.Kd = MotorsControl[POOLER_MOTOR].derivativetime;
         MotorControlConfig[POOLER_MOTOR].m_params.Kp = MotorsControl[POOLER_MOTOR].proportionalgain;
-        MotorControlConfig[POOLER_MOTOR].m_params.Ki = MotorsControl[POOLER_MOTOR].integraltime;
+        MotorControlConfig[POOLER_MOTOR].m_params.Ki = 0;//MotorsControl[POOLER_MOTOR].integraltime;
         MotorControlConfig[POOLER_MOTOR].m_params.IntegralErrorMultiplier = MotorsControl[POOLER_MOTOR].setpointramprateorsoftstartramp;
         MotorControlConfig[POOLER_MOTOR].m_params.ProportionalErrorMultiplier = MotorsControl[POOLER_MOTOR].outputonoffhysteresisvalue;
         MotorControlConfig[POOLER_MOTOR].m_params.epsilon = MotorsControl[POOLER_MOTOR].epsilon;
@@ -556,7 +575,7 @@
         MotorControlConfig[WINDER_MOTOR].m_params.MIN = MotorsControl[WINDER_MOTOR].outputproportionalpowerlimit*-1;
         MotorControlConfig[WINDER_MOTOR].m_params.Kd = MotorsControl[WINDER_MOTOR].derivativetime;
         MotorControlConfig[WINDER_MOTOR].m_params.Kp = MotorsControl[WINDER_MOTOR].proportionalgain;
-        MotorControlConfig[WINDER_MOTOR].m_params.Ki = MotorsControl[WINDER_MOTOR].integraltime;
+        MotorControlConfig[WINDER_MOTOR].m_params.Ki = 0;//MotorsControl[WINDER_MOTOR].integraltime;
         MotorControlConfig[WINDER_MOTOR].m_params.IntegralErrorMultiplier = MotorsControl[WINDER_MOTOR].setpointramprateorsoftstartramp;
         MotorControlConfig[WINDER_MOTOR].m_params.ProportionalErrorMultiplier = MotorsControl[WINDER_MOTOR].outputonoffhysteresisvalue;
         MotorControlConfig[WINDER_MOTOR].m_params.epsilon = MotorsControl[WINDER_MOTOR].epsilon;
@@ -682,7 +701,10 @@ uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
     {
         ThreadLoadStateMachine(ReadValue);
     }
+    return OK;
 }
+uint32_t LoadCounter = 0;
+
 uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     //read value is the dancer angle
@@ -741,6 +763,11 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
     }
+    LoadCounter++;
+    if ((LoadCounter % 5001) == 0)
+    {
+          Report("MotorSpeedUpdated",__FILE__,index,abs(TranslatedReadValue),RpWarning,(int)CurrentControlledSpeed[index],0);
+    }
  return OK;
 }
 void ThreadLoadRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 2959a688b..3aa7f8895 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -151,6 +151,7 @@ FRESULT CloseJobFile()
         SegmentPtr = NULL;
     }
     REPORT_MSG(Fresult,"CloseJobFile");
+    IDS_Dispenser_Store_Data ();
 
     return Fresult;
 }