Embedded SW Release note - Version 1.4.6.34 - Pack 2+

=============================================================
Validate IFS and cartridge location on manual waste handling - bug #3033
better handling of powerstep01 configuration and motors clocks
waste level: logs, fixed reading during waste filling,
fix PT100 reading in WHS                                                                                                                                                                                                 //important, OK
improve diespensers reading in I2C timing                                                                                                                                            //important OK
alarm handling: fix report (mid tank empty)
diagnostics - waste level in liters
Heating and process - avoid activating all heaters at once. tested for flat head.
Heating - remove alarms when colling dwn due to change of RML or idle mode
Thread - improve feeder tension handling
system: hold initalization process after 3 failures to enable code / parameters change and debugging

15 files changed, 146 insertions, 179 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 60707d0cb..4b1fec423 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 = {1,4,6,33};
+TangoVersion_t _gTangoVersion = {1,4,6,34};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 4c74839a1..4b6bdc129 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -20,7 +20,7 @@
 #define NO_INITIAL_HEATING
 #define MAX_STRING_LEN              255 //Embedded  version + filter.c
 
-//#define WATCHDOG
+#define WATCHDOG
 //#define DISPESER_TEST
 //#define FPGA_WATCHDOG_DISABLE
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/EEPROM/Head_EEPROM.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/EEPROM/Head_EEPROM.c
index d7f0c8277..0d767b864 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/EEPROM/Head_EEPROM.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/EEPROM/Head_EEPROM.c
@@ -121,7 +121,7 @@ uint32_t Check_Head_Type_Via_EEPROM()
     if (status == 0xFF)
     {
         ACTIVITY_RED_LED_ON;
-        AlarmHandlingSetAlarm(EVENT_TYPE__POWER_UP_BIT_FAILURE, true);
+        //AlarmHandlingSetAlarm(EVENT_TYPE__POWER_UP_BIT_FAILURE, true);
     }
 
     if((Head_i2c_status == I2C_MASTER_ERR_ADDR_ACK)||(status == 0xFF))
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c
index 8bd21b9b4..7c98b53da 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c
@@ -22,9 +22,9 @@
 #include "i2c_fifo.h"
 #include "i2c.h"
 
-
-
-
+uint32_t LastReadI2C_BASE; unsigned char LastReadaddr; unsigned char* LastReaddata; unsigned int LastReadlen;
+uint32_t LastWriteI2C_BASE; unsigned char LastWriteaddr; unsigned char *LastWritedata; unsigned int LastWritelen;
+Task_Handle TaskId;
 uint32_t Arb_Loss_Count = 0;
 //*****************************************************************************
 //! Indicates whether or not the I2C bus has timed out.
@@ -50,6 +50,7 @@ bool I2CMasterTimeout(uint32_t ui32Base)
     }
 }
 
+char I2CErrMsg[181];
 uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data, unsigned int len)
 {
     uint32_t status = OK;
@@ -212,11 +213,31 @@ uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Write_buf,
 
     //Byte2Write = Byte2Write & 0xFF;
 
-    /*if(No_BytesToWrite <= 2) {
+    status = I2C_WriteBuff(I2C_BASE, Slave_Add, I2C_Write_buf, No_BytesToWrite);
+    //status = I2C_WriteFifo(I2C_BASE, Slave_Add, buff, No_BytesToWrite);
+    /*if(No_BytesToWrite <= 2)
+    {
         status = I2C_WriteBuff(I2C_BASE, Slave_Add, I2C_Write_buf, No_BytesToWrite);
-    } else {
+    }
+    else
+    {
         status = I2C_WriteFifo(I2C_BASE, Slave_Add, buff, No_BytesToWrite);
     }*/
+    if (status == OK)
+    {
+        //LastWriteI2C_BASE = I2C_BASE;
+        LastWriteaddr = Slave_Add;
+        LastWritedata = buff;
+        LastWritelen = No_BytesToWrite;
+        TaskId = Task_self();
+    }
+    else
+    {
+        usnprintf(I2CErrMsg, 180, "I2C Err write 0x%x 0x%x, last good read 0x%x, %d,  write 0x%x, %d, T 0x%x 0x%x",status,Slave_Add,
+                   LastReadaddr,  LastReadlen,
+                   LastWriteaddr, LastWritelen,  Task_self(),TaskId);
+        Report(I2CErrMsg, __FILE__, __LINE__, status, RpWarning, Slave_Add, 0);
+    }
 
     //uint32_t I2C_W_buf[256] = {0},i;
 
@@ -225,7 +246,6 @@ uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Write_buf,
 //    I2C_W_buf[i] = request->bytestwrite[i];
 //   }
 
-    status = I2C_WriteBuff(I2C_BASE, Slave_Add, I2C_Write_buf, No_BytesToWrite);
     if (status)
     {
         if (Arb_Loss_Count++ >= 5)
@@ -289,6 +309,22 @@ uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Read_buf, u
 
         }
     }
+    if (status == OK)
+    {
+        //LastReadI2C_BASE = I2C_BASE;
+        LastReadaddr = Slave_Add;
+        LastReaddata = buff;
+        LastReadlen = No_BytesToRead;
+        TaskId = Task_self();
+    }
+    else
+    {
+        usnprintf(I2CErrMsg, 180, "I2C Err read 0x%x 0x%x, last good read 0x%x, %d,  write 0x%x, %d, T 0x%x 0x%x",status,Slave_Add,
+                   LastReadaddr,  LastReadlen,
+                   LastWriteaddr, LastWritelen,  Task_self(),TaskId);
+        Report(I2CErrMsg, __FILE__, __LINE__, status, RpWarning, Slave_Add, 0);
+    }
+
     /*else
     {
         if (Arb_Loss_Count)
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/Cartridges/Cartridges.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/Cartridges/Cartridges.c
deleted file mode 100644
index 8d11589be..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/Cartridges/Cartridges.c
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Cartridges.c
- *
- *  Created on: Jun 29, 2020
- *      Author: avi
- */
-#include "include.h"
-#include "DataDef.h"
-#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
-
-typedef enum
-{
-    UPPER_CART,
-    LOWER_CART,
-    UNKNOWN_CART,//at power up
-    NONE_CART,//NA
-}WASTE_ID;
-
-//WASTE_ID Waste_Id;
-
-typedef enum
-{
-    CART_UNKNOWN,//after power-up...
-    CART_OUT,
-    CART_IN,
-    CART_SELECTED,
-}CART_STATE;
-
-typedef enum
-{
-    CART_INIT,//unknown, acquire info, decide
-    CART_IDLE,//empty + valid (RFID tag OK), ready to use
-    CART_FULL,
-    CART_EMPTYING,
-    CART_EMPTYING_PAUSED,
-    CART_BLOCKED,//RFID FAILED ...
-}CART_STATUS;// mode
-
-typedef struct
-{
-    CART_STATE State;
-    uint8_t RFID_Legality;
-    double  Leval;//waste tank level mili litters
-    uint8_t Warnings;//empty / full / overflow
-    bool    Emptying_Process;// YES / NO
-    uint8_t Emptying_Duration; //if Emptying_Process YES
-}WASTE_HANDLING;
-
-typedef struct
-{
-    uint8_t Door; // OPEN / CLOSE / unknown
-    uint8_t Waste_Active; // CART_2 / CART_3 / NONE
-    WASTE_HANDLING Waste_Handling[2];
-}CART_HANDLING;
-
-CART_HANDLING Cart_Handling;
-
-void cartWaste_Init()
-{
-    //Initial state - OUT
-    Cart_Handling.Waste_Handling[UPPER_CART].State = CART_UNKNOWN;
-    Cart_Handling.Waste_Handling[LOWER_CART].State = CART_UNKNOWN;
-
-    Pannel_Leds(CART_2,MODE_OFF);
-    Pannel_Leds(CART_3,MODE_OFF);
-
-    Cart_Handling.Door = UNKNOWN;
-    Cart_Handling.Waste_Active = NONE_CART;
-}
-
-void cartCart_door()//Polled by polling function. Notify waste. Poll each 1 second. During active filling poll each 100msec
-{
-    if(Get_COVER_1_State(CartridgesDoor))//to check the polarity
-    {
-        Cart_Handling.Door = OPEN;
-    }
-    else
-    {
-        Cart_Handling.Door = CLOSE;
-    }
-}
-
-void cartCART_INSERTED(WASTE_ID CartId) //every 1 sec.
-{
-    switch(CartId)
-    {
-        case UPPER_CART:
-                if(Is_Cartridge_Present(CART_2) == true)
-                {
-                    Cart_Handling.Waste_Handling[UPPER_CART].State = CART_IN;
-                    Pannel_Leds(CART_2,MODE_ON);
-                }
-            break;
-        case LOWER_CART:
-                if(Is_Cartridge_Present(CART_3) == true)
-                {
-                    Cart_Handling.Waste_Handling[LOWER_CART].State = CART_IN;
-                    Pannel_Leds(CART_3,MODE_ON);
-                }
-            break;
-        default:
-            break;
-    }
-}
-
-void cartCART_EXTRACTED(WASTE_ID CartId)
-{
-    if(Cart_Handling.Waste_Active == CART_SELECTED)
-    {
-        #warning notify waste module
-    }
-
-    Cart_Handling.Waste_Handling[CartId].State = CART_OUT;
-
-    switch(CartId)
-    {
-        case UPPER_CART:
-                if(Is_Cartridge_Present(CART_2) == false)
-                {
-                    Pannel_Leds(CART_2,MODE_OFF);
-                }
-            break;
-        case LOWER_CART:
-                if(Is_Cartridge_Present(CART_3) == false)
-                {
-                    Pannel_Leds(CART_3,MODE_OFF);
-                }
-            break;
-        default:
-            break;
-    }
-}
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c
index 3671ff4e0..db9ee1053 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c
@@ -554,7 +554,7 @@ double CalculateWHSWasteTankLevelMiliLiter()
         waste_volume_milliliter = Vm_ml -LocalV0_ml;
     }
     //ReportWithPackageFilter(WasteFilter,"------------ waste_volume_ml -----------------", __FILE__, __LINE__, 0, RpMessage, (int)(waste_volume_milliliter), 0);
-    Report("------------ get waste level in ml  -----------------", __FILE__, __LINE__, 0, RpMessage, (int)(waste_volume_milliliter), 0);
+    Report("------------ get waste level in ml  -----------------", __FILE__, LocalV0_ml, Vm_ml, RpMessage, (int)(waste_volume_milliliter), 0);
     return waste_volume_milliliter;
 }
 
@@ -578,13 +578,13 @@ bool waste_seq_cont()
         case Open_Valve:
             Set_WHS_valve(VOC_VALVE, OPEN, 0);
             Write_WHS_Valve_reg();
-            Report("------------ waste level procedure open -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0);
+            //Report("------------ waste level procedure open -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0);
             OpenClose = Close_Valve;
             break;
         case Close_Valve:
             Set_WHS_valve(VOC_VALVE, CLOSE, 0);
             Write_WHS_Valve_reg();
-            Report("------------ waste level procedure close ----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0);
+            //Report("------------ waste level procedure close ----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0);
             OpenClose = Read_Waste;
             break;
         case Read_Waste:
@@ -607,7 +607,7 @@ bool waste_seq_cont()
         WasteCounter = 0;
         waste_level_ml = avg/8;
 
-        Report("------------ Avg waste level in ml  -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0);
+        Report("------------ Avg waste level in ml  -----------------", __FILE__, WasteAverageIndex, avg, RpMessage, (int)(waste_level_ml), 0);
     }
     return status;
 }
@@ -673,7 +673,7 @@ bool waste_seq_step1_cont()
 
     Trigger_SetWHS_VOC_Valve(OPEN);
 
-    //WasteControlId = AddControlCallback(NULL, Trigger_ReadWHS_WasteContinouos, WASTE_PROCESS_TIME, TemplateDataReadCBFunction,0,0, 0 );
+    WasteControlId = AddControlCallback(NULL, Trigger_ReadWHS_WasteContinouos, WASTE_PROCESS_TIME, TemplateDataReadCBFunction,0,0, 0 );
     Report("------------ waste_seq_step1_cont -----------------", __FILE__, __LINE__, WasteControlId, RpMessage, 0, 0);
 
     return status;
@@ -704,7 +704,7 @@ bool waste_seq_step1()
     WasteCounter = 0;
     OpenClose = CLOSE;
 
-    ReportWithPackageFilter(WasteFilter,"------------ open waste level Air valve -----------------", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+    Report("------------ open waste level Air valve -----------------", __FILE__, __LINE__, WHS_Eeprom.bytes.Orifice_Waste_Level_V0_ml, RpMessage, 0, 0);
     Trigger_SetWHS_VOC_Valve(OPEN);
 
     ReportWithPackageFilter(WasteFilter,"------------ wait 1 second -----------------", __FILE__, __LINE__, 0, RpMessage, 0, 0);
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
index c5f8037aa..8618524d9 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
@@ -470,6 +470,7 @@ bool WHS_Set_Blower_Control_Closed_Loop(double Q_value)
             Valve_Set(IDS_Id_to_AirValve[midtank_cleared], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
             Valve_Set(IDS_Id_to_CartrideValve[midtank_cleared], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
         }
+        return OK;
     }
     else
     {
@@ -634,9 +635,9 @@ uint32_t WHS_Pid_Testing_Func(double setParam,double measuredParam)
         calculated_speed = volt + 100;
     if (calculated_speed < (volt - 100))
         calculated_speed = volt - 100;*/
-    usnprintf(whs_str, 150, "WHS_Pid_Testing_Func meas %d avg %d set %d error %d integral %d blower %d",
+    /*usnprintf(whs_str, 150, "WHS_Pid_Testing_Func meas %d avg %d set %d error %d integral %d blower %d",
               (int)(measuredParam*100),(int)(avreageSampleValue*100),(int)(setParam*100),(int)(WHS_ControlData.m_calculatedError*100),(int)(WHS_ControlData.m_integral*100),(int)(calculated_speed));
-    Report(whs_str, __FILE__,__LINE__, (int)(calculated_speed), RpMessage, (int)(volt), 0);
+    Report(whs_str, __FILE__,__LINE__, (int)(calculated_speed), RpMessage, (int)(volt), 0);*/
     /*if (fabs(WHS_ControlData.m_calculatedError)>(WHS_ControlData.m_params.MAX/2))
     {
         close_loop_time = 1;
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 356f192a3..1c2b6662d 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -652,6 +652,9 @@ JobEndReasonEnum getEndReason(uint32_t AlarmId)
                 usnprintf(AlarmReasonStr, 100, "Alarm %d type %d caused a job stop",AlarmId,AlarmItem[AlarmId].EventType);
                 return JOB_OTHER_ALARM;
             }
+        case ALARM_SOURCE_TYPE__FluidLevelAlarm:
+            usnprintf(AlarmReasonStr, 100, "Midtank %d is empty",AlarmItem[AlarmId].DeviceId);
+            return JOB_OUT_OF_DYE;
         default:
             usnprintf(AlarmReasonStr, 100, "Alarm %d type %d caused a job stop",AlarmId,AlarmItem[AlarmId].EventType);
             return JOB_OTHER_ALARM;
@@ -993,6 +996,8 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
     if (FoundReason != JOB_OK)
     {
         JobEndReason = getEndReason(AlarmId);
+        if (JobEndReason!=FoundReason)
+            ReportWithPackageFilter(AlarmFilter,"end reason mismatch!!!", __FILE__,AlarmId,JobEndReason, RpMessage, FoundReason, 0);
         //AbortJob(AlarmReasonStr);
         //PrepareReady(Module_Alarms,ModuleFail);
         ReportWithPackageFilter(AlarmFilter,AlarmReasonStr, __FILE__,__LINE__,AlarmId, RpMessage, DEBUG_LOG_CATEGORY__Error, 0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 849d1cd9b..8e01fe18e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -115,7 +115,7 @@ double dispenserinklevel[MAX_SYSTEM_DISPENSERS][1];
 double midtankinklevel[MAX_SYSTEM_DISPENSERS][1];
 double MidTankpressure[MAX_SYSTEM_DISPENSERS][1];
 double HeadFlowMeter;
-double tempFlow = 0.0;
+//double tempFlow = 0.0;
 double DrierFlowMeter;
 double AcVoltage;
 double WasteLevel = 0.0;
@@ -819,11 +819,11 @@ void DiagnosticOneMinuteCollection(void)
     DiagnosticsMonitor.dryerairflow = &DrierFlowMeter;
 
     HeadFlowMeter = GetWHSAirFlow(HEAD_FLOW_METER);
-    if (fabs(tempFlow - HeadFlowMeter)>0.05)
+    /*if (fabs(tempFlow - HeadFlowMeter)>0.05)
     {
         Report("Head flow change 1m",__FILE__,(int)diagvoltage,(int)(tempFlow*1000),RpWarning,(int)(HeadFlowMeter*1000),0);
         tempFlow = HeadFlowMeter;
-    }
+    }*/
     DiagnosticsMonitor.n_headairflow = 1;
     DiagnosticsMonitor.headairflow = &HeadFlowMeter;
 
@@ -858,11 +858,11 @@ void DiagnosticOneSecCollection(void)
         HeadFlowMeter = GetWHSAirFlow(HEAD_FLOW_METER);
         DiagnosticsMonitor.n_headairflow = 1;
         DiagnosticsMonitor.headairflow = &HeadFlowMeter;
-        if (fabs(tempFlow - HeadFlowMeter)>0.25)
+        /*if (fabs(tempFlow - HeadFlowMeter)>0.25)
         {
             Report("Head flow change 1s",__FILE__,(int)diagvoltage,(int)(tempFlow*1000),RpWarning,(int)(HeadFlowMeter*1000),0);
             tempFlow = HeadFlowMeter;
-        }
+        }*/
         WasteLevel = GetWHSWasteTankLevelMiliLiter()/1000;//change from ml to litter
         static double InitCounter = 0;
         if (GetMachineState()<MACHINE_STATE_NO_PROCESS_PARAMS)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 968522e48..bf7d761dd 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -200,6 +200,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
     }
     if(Head_Type != HEAD_TYPE_STAPLE_SPUN)
     {
+        Trigger_HeaterWriting();
         if (ProcessParams->headzone4temp>1)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, true,ProcessParams->headzone4temp);
@@ -239,6 +240,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ7, false,ProcessParams->headzone7temp);
         }
+        Trigger_HeaterWriting();
         if (ProcessParams->headzone8temp>1)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ8, true,ProcessParams->headzone8temp);
@@ -263,6 +265,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ10, false,ProcessParams->headzone10temp);
         }
+        Trigger_HeaterWriting();
         if (ProcessParams->headzone11temp>1)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ11, true,ProcessParams->headzone11temp);
@@ -282,6 +285,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
     }
     if(Head_Type == HEAD_TYPE_STAPLE_SPUN)
     {
+        Trigger_HeaterWriting();
         if (ProcessParams->rblowertemp>1)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadCoverHeater1, true,ProcessParams->rblowertemp);
@@ -290,6 +294,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadCoverHeater1, false,ProcessParams->rblowertemp);
         }
+        Trigger_HeaterWriting();
         if (ProcessParams->lblowertemp>1)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadCoverHeater2, true,ProcessParams->lblowertemp);
@@ -298,6 +303,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
         {
             status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadCoverHeater2, false,ProcessParams->lblowertemp);
         }
+        Trigger_HeaterWriting();
         Trigger_Head_Fan_Control(HEAD_FAN_RIGHT,ProcessParams->rblowerflow);
         Trigger_Head_Fan_Control(HEAD_FAN_LEFT,ProcessParams->lblowerflow);
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 309eada85..73da7924b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -1110,6 +1110,7 @@ uint32_t DcHeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
     }
     return ERROR;
 }
+bool IncreaseBlower = false;
 uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 {
     int index=HEATER_TYPE_MAX_HEATERS;
@@ -1259,23 +1260,29 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                 ReportWithPackageFilter(HeatersFilter,"AC Ready",__FILE__,index,readValue,RpWarning,(HeaterCmd[index].targettemperatue), 0);
                 HeaterAtTemp[index] = true;
                 HeaterPrepareReady();
+                IncreaseBlower = false;
             }
     }
     if    (   (readValue >  (HeaterCmd[index].targettemperatue * ((100-HeaterControl[index].outputproportionalband+2)/100)))
           &&  (readValue < (HeaterCmd[index].targettemperatue *  ((100+HeaterControl[index].outputproportionalband)/100))))
     {
-        if (BlowerCfg.enabled == true)
+        if (IncreaseBlower == false)
         {
-            if(Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD)
-            {
-                WHS_Set_SetPoint_Q_value(headairflow);
-            }
-            else
+            IncreaseBlower = true;
+            if (BlowerCfg.enabled == true)
             {
-                Turn_the_Blower_On();//Turn on with the Default_Voltage
-                if (BlowerCfg.voltage)
-                    Control_Voltage_To_Blower(BlowerCfg.voltage);
+                if(Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD)
+                {
+                    WHS_Set_SetPoint_Q_value(headairflow);
+                }
+                else
+                {
+                    Turn_the_Blower_On();//Turn on with the Default_Voltage
+                    if (BlowerCfg.voltage)
+                        Control_Voltage_To_Blower(BlowerCfg.voltage);
+                }
             }
+
         }
     }
     if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0))
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 965ea30da..2b65ca806 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -863,7 +863,7 @@
     uint32_t Thread_Load_Dryer_UnLoading(void)
     {
         uint32_t temp;
-        REPORT_MSG(LoadStages, "Thread UnLoad State Machine step");
+        REPORT_MSG(LoadStages, "Thread Load State Machine step Dryer Unloading");
         //LoadArmRounds = 0;
         //uint32_t numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
@@ -1258,7 +1258,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 bool ThreadLoaded(void)
 {
-    uint32_t ReadValue;
+   /* uint32_t ReadValue;
 
     int32_t PoolerValue,WinderValue,FeederValue;
     //this function tests if there is a thread in the machine. all dancers are in lowermost position then there is no thread.
@@ -1280,7 +1280,7 @@ bool ThreadLoaded(void)
         Report("Thread is out",__FILE__,(-1*PoolerValue),(-1*WinderValue),RpWarning,(-1*FeederValue),0);
         return true;
     }
-    else
+    else*/
         return false;
 }
 void ThreadLoadRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 8a4960433..d762e507f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -217,7 +217,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         }
 
     }
-    FeederSpeedStore[FeederSpeedIndex++] = length;
+    /*FeederSpeedStore[FeederSpeedIndex++] = length;
     if (FeederSpeedIndex>=SPEED_STORE_SIZE)
     {
         FeederSpeedIndex = 0;
@@ -225,8 +225,8 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         for (Speed_i = 0;Speed_i<SPEED_STORE_SIZE;Speed_i++)
             FeederSpeedAverage+=FeederSpeedStore[Speed_i];
         FeederSpeedAverage = FeederSpeedAverage/SPEED_STORE_SIZE;
-        ReportWithPackageFilter(ThreadFilter,"Average Speed 2 second",__FILE__,__LINE__,(int)(FeederSpeedAverage*100),RpWarning,(int)(PullerSpeedAverage*100),0);
-    }
+        ReportWithPackageFilter(ThreadFilter,"Avg len 100ms last 2 sec",__FILE__,(int)PoolerTotalProcessedLength,(int)(FeederSpeedAverage*1000),RpWarning,(int)(PullerSpeedAverage*1000),0);
+    }*/
     TotalProcessedLength += (length/100);
     TempTotalProcessedLength = TotalProcessedLength;
 #ifdef FEEDER_LENGTH_CALCULATION
@@ -317,7 +317,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             length = 0;
 
         }
-        PullerSpeedStore[PullerSpeedIndex++] = length;
+        /*PullerSpeedStore[PullerSpeedIndex++] = length;
         if (PullerSpeedIndex>=SPEED_STORE_SIZE)
         {
             PullerSpeedIndex = 0;
@@ -326,7 +326,7 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                 PullerSpeedAverage+=PullerSpeedStore[Speed_i];
             PullerSpeedAverage = PullerSpeedAverage/SPEED_STORE_SIZE;
             //ReportWithPackageFilter(ThreadFilter,"Average Speed 2 second",__FILE__,__LINE__,(int)(FeederSpeedAverage*100),RpWarning,(int)(PullerSpeedAverage*100),0);
-        }
+        }**/
 
     //}
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
index cf9fb3b7b..03ee73daf 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
@@ -20,6 +20,7 @@
 #include <Drivers/I2C_Communication/I2C_Task.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h>
+#include <Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h>
 //
 //#define CARTRIDGE_INK_TIMEOUT           60
 //#define CARTRIDGE_INK_TIMEOUTx2         120
@@ -231,11 +232,11 @@ bool RdCartridgeParam(cartridge_name cart_name)
     {
     case waste_cartridge1:
         WHS_info.cartridge_1.serial_number = temp_funcion; //to do
-        WHS_info.cartridge_1.status = temp_funcion; // to do
+        WHS_info.cartridge_1.status = WasteEmpty; // to do
         break;
     case waste_cartridge2:
         WHS_info.cartridge_2.serial_number = temp_funcion;
-        WHS_info.cartridge_2.status = temp_funcion;
+        WHS_info.cartridge_2.status = WasteEmpty;
         break;
     case INK_cartridge:
         ReadCartridgeData(cart_name);
@@ -313,6 +314,12 @@ U8 set_cartridge_2(U8 cartridge_status)
 
 bool SetWastePump( bool power)
 {
+    if ((IFS_Availability[1] == IFS_RECOGNIZED)&&(IFS_Availability[2] == IFS_RECOGNIZED)) //ifs installed -check cartridges
+     {
+        if ((WHS_WasteCartridgeLowerPresent() == false)&&(WHS_WasteCartridgeMiddlePresent() == false))
+            return ERROR;
+     }
+
     /*
     set the waste pump on/off
     off - :
@@ -415,6 +422,29 @@ U8 CartridgeWasteFilling(bool status)
             SetWasteLevelEmptyingLimit(GetWHSWasteTankLevelMiliLiter());
             waste_seq_step1_cont();
         }
+        switch (WHS_info.active_cartridge)
+           {
+              case waste_cartridge1:
+                  Pannel_Leds( CART_2,  MODE_ON);                //set led color
+                  cart2.color = BLINK;
+                  ReportWithPackageFilter(WasteFilter,"------------ WHS  waste_cartridge1 is used please replace it -----------------", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+                  break;
+              case waste_cartridge2:
+                  Pannel_Leds( CART_3,  MODE_ON);                //set led color
+                  cart3.color = BLINK;
+                  ReportWithPackageFilter(WasteFilter,"------------ WHS  waste_cartridge2 is used please replace it -----------------", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+                  break;
+              case no_waste_cartridge:
+                  ReportWithPackageFilter(WasteFilter,"------------ !!!!!WHS  No waste cartridge !!!!! -----------------", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+                  ReportWithPackageFilter(WasteFilter,"------------ !!!! WHS  insert cartridge!!!! -----------------", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+                  SetWastePump(CLOSE);
+                  //WHS_info.WHS_pump.time = 0;
+                  AlarmHandlingSetAlarm( EVENT_TYPE__NO_WASTE_CARTRIDGE_AVAILABLE,  true);
+                  ret = ERROR;
+                  break;
+              default:
+                  break;
+           }
         ret=OK;
     }
     else // stop Waste cartridge filling
@@ -460,9 +490,9 @@ U8 CartridgeWasteFilling(bool status)
 
 /* ------read waste tank sensors -----------  */
 #define WASTE_CARTRIDGE_SIZE 1500
-#define WASTE_LEVEL_OVERFLOW 4000
-#define WASTE_LEVEL_FULL 3500
-#define WASTE_LEVEL_EMPTY 2100
+#define WASTE_LEVEL_OVERFLOW 2700
+#define WASTE_LEVEL_FULL 2300
+#define WASTE_LEVEL_EMPTY 900
 double WasteLevelOverflow = WASTE_LEVEL_OVERFLOW;
 double WasteLevelFull = WASTE_LEVEL_FULL;
 double WasteLevelEmpty = WASTE_LEVEL_EMPTY;
@@ -727,7 +757,7 @@ bool WasteTankCBFunction()
                 ReportWithPackageFilter(WasteFilter,"------------ WHS, Cartridge cover open -------------", __FILE__, __LINE__, WHS_info.sttMachine, RpMessage, WHS_info.WHS_sensors.cartridge_cover, 0);//popup message :"Cartridge cover open"  //todo
                 if ( WHS_info.WHS_pump.status == OPEN)
                 {
-                    CartridgeWasteFilling(CLOSE);
+                    CartridgeWasteFilling(OFF);
                     pump_on_flag = OPEN;
                 }
 
@@ -759,12 +789,12 @@ bool WasteTankCBFunction()
             }
             else // CLOSE
             {
-                //if (WHS_info.sttMachine == WHS_full) CartridgeWasteFilling(OPEN);
+                if (WHS_info.sttMachine == WHS_full) CartridgeWasteFilling(ON);
                 SetActiveWastCartridge();
                 if (pump_on_flag == OPEN )
                 {
                     WHS_info.WHS_sensors.waste_tank_full_sensor =  SENSORnotFULL;  // todo
-                    //                    CartridgeWasteFilling(OPEN);
+                    CartridgeWasteFilling(OPEN);
                     pump_on_flag = CLOSE;
                 }
                 IFS_info.Cartridge_Ink_device_Id    = RemoveControlCallback(IFS_info.Cartridge_Ink_device_Id   , WasteTankCBFunction );
diff --git a/Software/Embedded_SW/Embedded/Software Release Notes.txt b/Software/Embedded_SW/Embedded/Software Release Notes.txt
index b53a7016f..a090a9612 100644
--- a/Software/Embedded_SW/Embedded/Software Release Notes.txt
+++ b/Software/Embedded_SW/Embedded/Software Release Notes.txt
@@ -1,3 +1,17 @@
+Embedded SW Release note - Version 1.4.6.34 - Pack 2+
+=============================================================
+Validate IFS and cartridge location on manual waste handling - bug #3033   
+better handling of powerstep01 configuration and motors clocks 
+waste level: logs, fixed reading during waste filling,   
+fix PT100 reading in WHS                                                                                                                                                                                                 //important, OK
+improve diespensers reading in I2C timing                                                                                                                                            //important OK
+alarm handling: fix report (mid tank empty)
+diagnostics - waste level in liters 
+Heating and process - avoid activating all heaters at once. tested for flat head. 
+Heating - remove alarms when colling dwn due to change of RML or idle mode 
+Thread - improve feeder tension handling  
+system: hold initalization process after 3 failures to enable code / parameters change and debugging  
+
 Embedded SW Release note - Version 1.4.6.33 - Pack 2+
 =============================================================
 remove logs from I2C errors - show only summary.