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

17 files changed, 114 insertions, 30 deletions

diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 755e5a962..0d93b3dbe 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -30,7 +30,7 @@
 #define BTSR_NO_PULLER_TFU
 #endif
 //#define USE_POWERSTEP01 -NA
-
+//#define LIGHT_COLORS
 //#define EMC_FORCE_MOT_CLOCK_INTERNAL
 
 //#define VAC_TEST
@@ -635,9 +635,16 @@ Supports diagnostic <id> (--diag_suppress, - pds)
 #define HEAD6_PT100 TEMP_SENSE_AN_ENCLOSURETEMP3
 #define MIXER_PT100 TEMP_SENSE_ANALOG_MIXCHIP_TEMP
 
+//#define LUBRICANT_DISPENSER 7
+#ifdef LIGHT_COLORS
+#define LUBRICANT_DISPENSER 9
+#define CLEANER_DISPENSER 9
+#define MAX_DYE_DISPENSERS MAX_SYSTEM_DISPENSERS
+#else
 #define LUBRICANT_DISPENSER 7
 #define CLEANER_DISPENSER 6
-//#define AUTO_HOME_DISPENSERS
+#define MAX_DYE_DISPENSERS 6
+#endif
 #define MAX_CARTRIDGES 3
 
 typedef enum
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Fan/Head_Fan.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Fan/Head_Fan.h
index 394a69e1d..438d552ff 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Fan/Head_Fan.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Fan/Head_Fan.h
@@ -75,5 +75,6 @@ uint8_t Head_Fan_Read_Tacho(bool Fan);
 uint8_t Head_Read_Config_Reg();
 uint8_t Head_Fan_config();
 uint8_t Head_Fans_Init();
+uint8_t Head_Check_Fan_Controller_Type();
 
 #endif /* DRIVERS_I2C_COMMUNICATION_HEAD_CARD_FAN_HEAD_FAN_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Fan/fan_click.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Fan/fan_click.c
index 728531488..ab68d6539 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Fan/fan_click.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/Fan/fan_click.c
@@ -26,7 +26,7 @@ uint8_t readbuffer[2];
 uint8_t writebuffer[2];
 
 
-uint32_t I2C_HEAD_FAN_SLAVE_ADD = 0x5C;
+uint32_t I2C_HEAD_FAN_SLAVE_ADD = UNKNOWN;
 
 
 FAN_CLICK_INFO Fan_Click_Info;
@@ -195,6 +195,34 @@ uint8_t Head_fan_click_revision()
     return status;
 }
 
+uint8_t Head_Check_Fan_Controller_Type()
+{
+    uint8_t status = ERROR;
+
+    Select_Main_Head_Mux_Channel();
+
+    if(I2C_HEAD_FAN_SLAVE_ADD == UNKNOWN)
+    {
+        I2C_HEAD_FAN_SLAVE_ADD = 0x5C;
+        status = Head_fan_click_productID();
+
+        if((Fan_Click_Info.Product_ID != 0x36) || (status != OK))
+        {
+            I2C_HEAD_FAN_SLAVE_ADD = 0x5E;
+            status = Head_fan_click_productID();
+        }
+
+        if((Fan_Click_Info.Product_ID != 0x36) || (status != OK))
+        {
+            I2C_HEAD_FAN_SLAVE_ADD = 0x00;
+            ReportWithPackageFilter(GeneralFilter,"unable to recognize the Head fan controller", __FILE__,__LINE__, status, RpMessage, 0, 0);
+            status = ERROR;
+        }
+    }
+    return status;
+}
+
+
 uint8_t Head_Read_Config_Reg()
 {
     uint8_t status = OK;
@@ -296,6 +324,7 @@ uint8_t Head_Fans_Init()
 {
     uint8_t status = OK;
 
+    Head_Check_Fan_Controller_Type();
     Head_Read_Config_Reg();
     //Output is configured as a push-pull output
     EMC2302_Write.Reg.PWM_Output_Config |= 0x3;//Bit0 Output PWM1, Bit2 Output PWM2, 0 open drain, 1 push-pull
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan/WHS_Fan.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan/WHS_Fan.c
index f22d53a77..73bc2f9af 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan/WHS_Fan.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan/WHS_Fan.c
@@ -233,7 +233,7 @@ uint8_t WHS_Check_Fan_Controller_Type(WHS_fan_num fan_number)
         if((Fan_Driver_Info[fan_number].Product_ID != 0x36) || (status != OK))
         {
             I2CFanViaSwitch_ADD_Buf[fan_number] = 0x00;
-            ReportWithPackageFilter(WasteFilter,"unable to recognize the an controller", __FILE__,__LINE__, status, RpMessage, fan_number, 0);
+            ReportWithPackageFilter(WasteFilter,"unable to recognize the WHS fan controller", __FILE__,__LINE__, status, RpMessage, fan_number, 0);
             status = ERROR;
         }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 779d7e82f..ae862505a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -354,7 +354,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
         {
             angle = Calculate_Arm_Distance(Arm_Drier_Center,temp);
 
-            if ((angle<400)||(angle>16000))
+            if (abs(angle)<400)
             {
                 BusyFlag = NOTBUSY;
             }
@@ -376,7 +376,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
                Report("motor timeout",__FILE__,__LINE__,MotorId,RpMessage,MotorTimeout[MotorId],0);
                Busy = BUSY;
             }
-            Report("MotorRunCallBackFunctionMotorRunCallBackFunction curr prev return",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0);
+            Report("MotorRunCallBackFunction curr prev return",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0);
            //call the module callback
            if (MotorCallback[MotorId])
            {
@@ -1128,10 +1128,10 @@ float Calculate_Arm_Angle(uint32_t Drier_Center,uint32_t Current_Angle)
 int Calculate_Arm_Distance(uint32_t Drier_Center,uint32_t Current_Angle)
 {
     int angle;
-    if (Current_Angle >= Drier_Center)
+    //if (Current_Angle >= Drier_Center)
         angle = Current_Angle - Drier_Center;
-    else
-        angle = Current_Angle + 0x3FFF - Drier_Center;
+    //else
+    //    angle = Current_Angle + 0x3FFF - Drier_Center;
     ReportWithPackageFilter(DiagnosticsFilter,"Calculate_Arm_Distance",__FILE__,angle,Current_Angle,RpMessage,Drier_Center,0);
     return angle;
 }
@@ -1163,7 +1163,7 @@ uint32_t LoadingArmReset_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         ReportWithPackageFilter(DiagnosticsFilter,"LoadingArmReset_Callback OK",__FILE__,__LINE__,Arm_Drier_Center,RpMessage,ReadValue,0);
         MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0);
-        if ((angle<400)||(angle>16000))
+        if (abs(angle)<400)
         //if (fabs(angle)<0.2)
         {
             ReportWithPackageFilter(DiagnosticsFilter,"drier center proximity",__FILE__,temp,Arm_Drier_Center,RpMessage,angle,0);
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
index f4b72bb0f..750d02f6b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
@@ -212,8 +212,10 @@ void MainCardStoredItemRequestFunc(MessageContainer* requestContainer)
         response.maincardstoreddata = &MainCardStoredDataInstance;
         MainCardStoredDataInstance.maincards_n = &Serial[0];
         MainCardStoredDataInstance.n_storeditem = MAX_EEPROM_STORAGE;
+        MainCardStoredDataInstance.storeditem = my_malloc(MAX_EEPROM_STORAGE*sizeof(MainCardStoredItem *));
         for (i = 0;i<MAX_EEPROM_STORAGE;i++)
         {
+            main_card_stored_item__init(&StoredData[i]);
             StoredData[i].has_address = true;
             StoredData[i].has_data = true;
             StoredData[i].address = i;
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index ed1ecbefa..36883df23 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -311,6 +311,7 @@ int main(void)
    I2C_BUSY_DELAY = 100; //temporary workaround!!!
 
    //WHS_Type = WHS_TYPE_NEW; //for testing
+   //Head_Type = HEAD_TYPE_ARC; //for testing
 
    if ((Head_Type >= HEAD_TYPE_UNKNOWN_WITH_CARD)&&(WHS_Type == WHS_TYPE_NEW))
    {
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index c7f8740d1..9a14cd1b8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -475,7 +475,7 @@ uint32_t Diagnostics_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_
 
     angle = Calculate_Arm_Distance(D_DrierPrevLocation,temp);
 
-    if ((angle<14000  )||(BusyFlag == BUSY)) // OK - take another round
+    if ((abs (angle)<14000  )||(BusyFlag == BUSY)) // OK - take another round
     {
         responseContainer.has_error = true;
         responseContainer.error = ERROR_CODE__GENERAL_ERROR;
@@ -611,7 +611,7 @@ uint32_t Diagnostics_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue
     ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,(int)angle,(int)ReadValue,RpMessage,temp,0);
 
     MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,D_numberOfCycles);
-    if ((angle>14000  )&&(ReadValue == NOTBUSY)) // OK - take another round
+    if ((abs(angle)>14000  )&&(ReadValue == NOTBUSY)) // OK - take another round
     {
         D_DrierPrevLocation = temp;
         //ReportWithPackageFilter(DiagnosticsFilter,"Diagnostics_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index cc2c508c0..6abf05539 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -628,7 +628,6 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
     return OK;
 }
 char Serial[21];
-MidTankData MidTankInfo[MAX_SYSTEM_DISPENSERS];
 
 uint32_t MachineCalibrationDataRequestFunc(MessageContainer* requestContainer)
 {
@@ -636,6 +635,7 @@ uint32_t MachineCalibrationDataRequestFunc(MessageContainer* requestContainer)
     MachineCalibrationDataRequest *request = machine_calibration_data_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     uint32_t *DancersData = my_malloc(MAX_SYSTEM_DANCERS*sizeof(uint32_t));
     MidTankData ** MidTankDataCollect = my_malloc(sizeof(MidTankData *)*MAX_SYSTEM_DISPENSERS);
+    MidTankData MidTankInfo[MAX_SYSTEM_DISPENSERS];
 
     int i;
     for (i = 0;i<MAX_SYSTEM_DANCERS;i++)
@@ -655,7 +655,8 @@ uint32_t MachineCalibrationDataRequestFunc(MessageContainer* requestContainer)
     //MCU_E2PromSerialNumRead(&Serial);
 
     MachineCalibrationDataResponse response = MACHINE_CALIBRATION_DATA_RESPONSE__INIT;
-    machine_calibration_data__init(&response.machinecalibrationdata);
+    response.machinecalibrationdata = my_malloc(sizeof(MachineCalibrationData));
+    machine_calibration_data__init(response.machinecalibrationdata);
     response.machinecalibrationdata->n_dancermiddlepoint = MAX_SYSTEM_DANCERS;
     response.machinecalibrationdata->dancermiddlepoint = DancersData;
     response.machinecalibrationdata->machineserialnumber = Serial;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index d86d7ab2d..0f8108dad 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -5,9 +5,6 @@
 #include "drivers/motors/motor.h"
 #include "ids_ex.h"
 
-#define LUBRICANT_DISPENSER 7
-#define CLEANER_DISPENSER 6
-
 extern uint32_t DispenserPrepareSpeed ;
 extern double   DispenserPreparePressure ;
 extern uint32_t DispenserPrepareTimeout ;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index 0ae017c13..59b9a56be 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -107,6 +107,16 @@ uint32_t IDS_Cleaning_Move_Actuators()
    CleaningStageCounter++;
    return OK;
 }
+
+uint32_t IDS_Cleaning_stop_cleaner_motor()
+{
+    TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DH_LID;
+    if (Head_Type != HEAD_TYPE_ARC)
+       return OK;
+
+    MotorStop(MotorId,Soft_Stop);
+    return OK;
+}
 /*uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
 {
     uint32_t status = OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index 57d3ff5e2..0a8060496 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -118,5 +118,6 @@ void DispenserDataRequestFunc(MessageContainer* requestContainer);
 void IDS_Start_Pid_Testing(int DispenserId);
 void IDS_Stop_Pid_Testing(int DispenserId);
 uint32_t cleaningMotorCBFunction (uint32_t deviceID, uint32_t Parameter1);
+uint32_t IDS_Cleaning_stop_cleaner_motor();
 
 #endif /* MODULES_IDS_IDS_EX_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 51485e579..4fd273977 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -43,7 +43,6 @@ typedef struct
 }DispenserControlConfig_t;
 HardwarePidControl *DispensersControl;
 HardwarePidControl DispensersCtrl[MAX_SYSTEM_DISPENSERS];
-#define MAX_DYE_DISPENSERS 6
 #define IDS_PRESEGMENT_TIME_STEP 50
 #define INITIAL_CLEANER_SPEED 300
 
@@ -565,7 +564,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
      double segmentfirst_speed;
      double pressure;
      ModuleStateEnum result = ModuleDone;
-     bool DispenserReady[MAX_DYE_DISPENSERS] = {false,false,false,false,false,false};
+     bool DispenserReady[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 
      //REPORT_MSG((int)DispenserPrepareControlId, "Prepare Callback");
 
@@ -1937,27 +1936,36 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          }
 
      }
+     if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0)
+         IDS_Cleaning_Stop_Cleaning_Solution(NULL);
 	IDS_StopLubrication();
 	Init_CleaningStageCounter();//set the counter before relocating
+	IDS_Cleaning_stop_cleaner_motor();
 	HeadCard_Actuators_Relocate();
 	return OK;
 }
 uint32_t IDS_StartLubrication(void)
 {
+#ifdef LIGHT_COLORS
+#else
     IDS_Dispenser_Start_Motor_and_Open_Valve(LUBRICANT_DISPENSER,lubricant_speed,NULL);
     CurrentDispenserSpeed[LUBRICANT_DISPENSER] = lubricant_speed;
-    REPORT_MSG (lubricant_speed, "IDS_StartLubrication");
     Lubricant_2Way_Valve (START);
+#endif
+    REPORT_MSG (lubricant_speed, "IDS_StartLubrication");
     return OK;
 }
 uint32_t IDS_StopLubrication(void)
 {
     REPORT_MSG (lubricant_speed, "IDS_StopLubrication and home dispenser");
+#ifdef LIGHT_COLORS
+#else
     Lubricant_2Way_Valve (STOP);
     //IDS_Dispenser_Close_Valve_And_Stop_Motor(LUBRICANT_DISPENSER,IDS_Valve_EndValveReady);
     TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[LUBRICANT_DISPENSER];
     MotorStop(HW_Motor_Id,Hard_Hiz);
     CurrentDispenserSpeed[LUBRICANT_DISPENSER] = 0;
     //IDS_HomeDispenser (LUBRICANT_DISPENSER, 1000 , NULL);   do not fill lubricant between jobs
+#endif
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
index e386df88c..d26b3d814 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
@@ -5,22 +5,32 @@
 #include <PMR/Stubs/CalculateResponse.pb-c.h>
 #include "include.h"
 #include "driverlib/gpio.h"
+#include "modules/control/control.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-
-void Stub_CalculateRequest(MessageContainer* requestContainer)
+char CalculateToken[36+1] = {0};
+//char init_string[100];
+int aaa = 0;
+uint32_t CalculateControlId = 0xFF;
+uint32_t CalculateRpeat(uint32_t IfIndex, uint32_t BusyFlag)
 {
     MessageContainer responseContainer;
-
-    CalculateRequest* request = calculate_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-
     CalculateResponse response = CALCULATE_RESPONSE__INIT;
-    response.sum = request->a + request->b;
+    bool last = false;
+    response.sum = aaa++;
     response.has_sum = true;
+    if (aaa >=20)
+    {
+        RemoveControlCallback(CalculateControlId, CalculateRpeat);
+        last = true;
+        aaa=0;
+    }
+    Report("CalculateRpeat",__FILE__,__LINE__,(int)aaa,RpWarning,(int)0,0);
 
-    responseContainer = createContainer(MESSAGE_TYPE__CalculateResponse, requestContainer->token, true, &response, &calculate_response__pack, &calculate_response__get_packed_size);
+    responseContainer = createContainer(MESSAGE_TYPE__CalculateResponse, CalculateToken, last, &response, &calculate_response__pack, &calculate_response__get_packed_size);
+    responseContainer.has_continuous = true;
+    responseContainer.continuous = true;
 
 //    free(request);
 
@@ -30,5 +40,21 @@ void Stub_CalculateRequest(MessageContainer* requestContainer)
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
     //free(requestContainer);
+
+    return OK;
+}
+
+
+void Stub_CalculateRequest(MessageContainer* requestContainer)
+{
+    MessageContainer responseContainer;
+
+    CalculateRequest* request = calculate_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    ustrncpy (CalculateToken, requestContainer->token,36);
+
+
+    Report("Stub_CalculateRequest",__FILE__,__LINE__,(int)aaa,RpWarning,(int)0,0);
+    CalculateControlId = AddControlCallback("PowerUpLoad", CalculateRpeat, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+
     calculate_request__free_unpacked(request,NULL);
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index cdb726b5e..c3f15aff8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -258,7 +258,7 @@
         {
             CallbackCounter--;
         }
-        if ((angle>14000  )&&(BusyFlag == NOTBUSY)) // OK - take another round
+        if ((abs(angle)>14000  )&&(BusyFlag == NOTBUSY)) // OK - take another round
         {
             Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 8d798b402..869485b71 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -217,7 +217,7 @@ uint32_t StoreDancerConfigMessage(int DancerId)
 
 
     status |= MCU_E2PromProgram(DancerAddress[Dancer_i],DancersCfg[Dancer_i].zeropoint);
-    Report("~~~~~~Store eeprom",__FILE__,__LINE__,Dancer_i,RpWarning,(int)DancersCfg[Dancer_i].zeropoint,0);
+    Report("~~~~~~Store eeprom dancer",__FILE__,__LINE__,Dancer_i,RpWarning,(int)DancersCfg[Dancer_i].zeropoint,0);
     /*
     response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig));
     if (response_buffer)
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h
index 10dd4c71e..d7352492a 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.h
@@ -39,6 +39,7 @@ void setPowerOffDisableCleaning (bool value);
 
 uint32_t PowerDownUpdateFunc(MessageContainer* requestContainer);
 uint32_t AbortPowerDownFunc(MessageContainer* requestContainer);
+void PowerDownStopReporting(void);
 
 
 #endif /* STATEMACHINES_INITIALIZATION_POWEROFFSEQUENCE_H_ */