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

31 files changed, 183 insertions, 75 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index 56888b742..10f33c62b 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -662,15 +662,6 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     FRESULT Fresult = FR_OK;
     FileInfo **FilesInfo = (FileInfo**)my_malloc(sizeof(FileInfo *)*(MAX_NUM_OF_FILES));
     FileInfo Data[MAX_NUM_OF_FILES];
-    /*
-    time_t t;
-    struct tm *ltm;
-    char *curTime;
-    t = time(NULL);
-    ltm = localtime(&t);
-    curTime = asctime(ltm);
-    Report(curTime, __FILE__, ltm->tm_hour,ltm->tm_min , RpWarning,  ltm->tm_sec, 0);
-     */
 
     if (1)//(Semaphore_pend(FFS_Sem, BIOS_NO_WAIT))
     {
@@ -727,14 +718,6 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
            Data[i].lastmodifieddate = fno[i]->fdate;
            Data[i].has_lastmodifiedtime = true;
            Data[i].lastmodifiedtime = fno[i]->ftime;
-           /*
-           t = (fno[i]->fdate<<16)+fno[i]->ftime;
-           ltm = localtime(&t);
-           curTime = asctime(ltm);
-           usnprintf(&Datestr, 100, "File info %s %s",fno[i]->fname, curTime);
-           Report(Datestr, __FILE__, __LINE__, t, RpWarning,   (int)Data[i].lastmodifiedtime, 0);
-           Task_sleep(50);
-            */
 
            if (i==0)
                usnprintf(&FullPath[i], 50,  "%s", request->path);
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
index dbbe47ddb..2d39d25ec 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
@@ -165,6 +165,8 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
                     usnprintf(FullPath, 50,  "%s%s%s", request->path,"/", VersionPackage->filedescriptors[File_i]->filename);
                     FFresult = f_unlink("//SYSINFO//EMBPARAM.CFG");
                     FFresult |= f_rename (FullPath, "//SYSINFO//EMBPARAM.CFG");
+                    FlashInit();
+                    Reboot = true;
                     LoadConfigurationParamsFromFile(true);
                     Report("ConfigParams",__FILE__,FFresult,(int)NumberOfFiles,RpWarning,CurrentRunningFile,0);
                     CurrentRunningFile++;
@@ -173,7 +175,9 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
                     usnprintf(FullPath, 50,  "%s%s%s", request->path,"/", VersionPackage->filedescriptors[File_i]->filename);
                     FFresult = f_unlink("//SYSINFO//PROCESSP.CFG");
                     FFresult |= f_rename (FullPath, "//SYSINFO//PROCESSP.CFG");
-                    LoadProcessParamsFromFile();
+                    //LoadProcessParamsFromFile();
+                    FlashInit();
+                    Reboot = true;
                     Report("ProcessParams",__FILE__,FFresult,(int)NumberOfFiles,RpWarning,CurrentRunningFile,0);
                     CurrentRunningFile++;
                 break;
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 a18588c72..08dc68781 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 = {1,5,1,0};
+TangoVersion_t _gTangoVersion = {1,5,1,1};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
 
diff --git a/Software/Embedded_SW/Embedded/Common/report/reportInit.c b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
index 8890fa8b9..2778943f3 100644
--- a/Software/Embedded_SW/Embedded/Common/report/reportInit.c
+++ b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
@@ -109,6 +109,10 @@ uint32_t OpenLogFile(void)
 uint32_t CloseLogFile(void)
 {
     /* perform default error output */
+    int len;
+    uint32_t Bytes = 0;
+    len = usnprintf(RepMessage, 80, "Closing Log File %s %s",__DATE__, __TIME__);
+    LogFresult = f_write(LogFileHandle,RepMessage,len,&Bytes );
     LogFresult = f_close(LogFileHandle);
     LogFileHandle = NULL;
     return LogFresult;
@@ -329,6 +333,7 @@ uint32_t ReportInitMessage(MessageContainer* requestContainer)
 //    ReportInitParams InitParams;
 
     StartDebugLogRequest* request = start_debug_log_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    Report("==============Saving file=================", __FILE__, __LINE__, _gTangoVersion.m_patch, RpWarning, _gTangoVersion.m_build, 0);
     ustrncpy (protobufToken, requestContainer->token,36);
     if (LogFileHandle != NULL)
 		f_sync(LogFileHandle);
diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.c b/Software/Embedded_SW/Embedded/Communication/Connection.c
index 0e90e5dbf..b566aa0e0 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.c
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.c
@@ -186,8 +186,8 @@ void KeepAliveRequest1Second(void)
     KARequestId++;
     //Report("keepalive request sent",__FILE__,__LINE__,KARequestId,RpWarning,msec_millisecondCounter, 0);
 
-    if (keepalivetest == false)
-        KeepAliveOneSecondCounter = 0;
+    //if (keepalivetest == false)
+    //    KeepAliveOneSecondCounter = 0;
     //KeepAliveActive = true;
     responseContainer = createContainer(MESSAGE_TYPE__KeepAliveRequest, KARequestToken, true, &request, &keep_alive_request__pack, &keep_alive_request__get_packed_size);
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
index 627ad45b9..f9092c889 100644
--- a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.c
@@ -430,14 +430,14 @@ void ADCAcquireStop(void)
 double VPressure_0 = 0;
 double A_offset =-2.429, B_slope_coefficient  = 0.267;//A - offset, B  - slope coefficient
 
-double  Calculate_Pitot_Pressure(bool flow ) // WHS - AN_AIRPRESS_1
+/*double  Calculate_Pitot_Pressure(bool flow ) // WHS - AN_AIRPRESS_1
 {
 
 
     //MPXV7002 (NXP)
     uint32_t VsampleInBits;
 
-    double Pressure = 0.0, temp, /*PKpa,PBar,*/VADC = 0.0 ,VSensor/*,PMicroBar*/;
+    double Pressure = 0.0, temp, /`*PKpa,PBar,*`/VADC = 0.0 ,VSensor/`*,PMicroBar*`/;
 
     VsampleInBits = ADC_GetReading(ADC_AIR_PRESSURE_1);
 
@@ -465,18 +465,18 @@ double  Calculate_Pitot_Pressure(bool flow ) // WHS - AN_AIRPRESS_1
     {
         Pressure = A_offset + B_slope_coefficient * (sqrt(VSensor - VPressure_0));
 
-    /*
+    /`*
         PKpa = 5 * VSensor;
             // ---- P[Kpa] -> BAR ----
 
         PBar = PKpa / 100.0;
 
         PMicroBar = PBar/1000;
-        Pressure = PMicroBar;*/
+        Pressure = PMicroBar;*`/
 
         return Pressure;
     }
-}
+}*/
 
 uint32_t Read_Dryer_Heaters_Current(HEATERS_CURRENT Heater_ID) //
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.h b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.h
index d7efd45d4..0dc1523fa 100644
--- a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.h
+++ b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC.h
@@ -60,8 +60,8 @@ void ADCAcquireStop(void);
 
 void ADC0SS0Handler(void);
 
-double  Calculate_Pitot_Pressure(bool flow ) ;
-uint8_t  Calculate_Gas_Power_Consumption();
+//double  Calculate_Pitot_Pressure(bool flow ) ;
+//uint8_t  Calculate_Gas_Power_Consumption();
 
 uint32_t Read_Dryer_Heaters_Current(HEATERS_CURRENT Heater_ID);
 void CheckAcInputVoltage();
diff --git a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC_VOC_Sensor.c b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC_VOC_Sensor.c
index e6a20904e..ea2f5a050 100644
--- a/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC_VOC_Sensor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/ADC_Sampling/ADC_VOC_Sensor.c
@@ -31,9 +31,9 @@ void VOCAlarmsInit(void)
     memset(Gas_PPM,0,sizeof(Gas_PPM));
 }
 
-void CalculateVOCAlarms(void)
+/*void CalculateVOCAlarms(void)
 {
-    int i,slope1=0,/*slope2=0,*/slopeindex=0;
+    int i,slope1=0,/`*slope2=0,*`/slopeindex=0;
     double a;
     bool alarmstate = false;
     for (i = 0; i< MAX_VOC_SAMPLES; i++)
@@ -46,13 +46,13 @@ void CalculateVOCAlarms(void)
             if ((slope1>0)&&(slope1 > VOC_Slope))
             {
                 slopeindex++;
-                if (slopeindex>=VOC_Slope_Time)
+                /`*if (slopeindex>=VOC_Slope_Time)
                 {
                     AlarmHandlingSetAlarm(EVENT_TYPE__VOC_SENSOR_ALARM_SLOPE,true);
                     Report("CalculateVOCAlarms slope on",__FILE__,__LINE__,(int)slope1,RpWarning,slopeindex,0);
                     alarmstate = true;
                     VOC_SlopeAlarm = true;
-                }
+                }*`/
             }
             else
             {
@@ -67,7 +67,7 @@ void CalculateVOCAlarms(void)
         AlarmHandlingSetAlarm(EVENT_TYPE__VOC_SENSOR_ALARM_SLOPE,false);
     }
 
-    if (a/MAX_VOC_SAMPLES > VOC_AverageLimit)
+    /`*if (a/MAX_VOC_SAMPLES > VOC_AverageLimit)
     {
         AlarmHandlingSetAlarm(EVENT_TYPE__VOC_SENSOR_ALARM_TIME,true);
         Report("CalculateVOCAlarms time on",__FILE__,__LINE__,(int)a,RpWarning,VOC_AverageLimit,0);
@@ -75,7 +75,7 @@ void CalculateVOCAlarms(void)
     else if (VOC_TimeAlarm == true)
     {
         AlarmHandlingSetAlarm(EVENT_TYPE__VOC_SENSOR_ALARM_TIME,false);
-    }
+    }*`/
 
 }
 
@@ -84,14 +84,14 @@ uint8_t  Calculate_Gas_Power_Consumption() // WHS
     // TGS 2602 (FIGARO)
 
 
-/*       Concentrtion  Sensor
+/`*       Concentrtion  Sensor
             [ppm]      [v]
               0      0.353
              18      0.438
              33      2.919
             100      4.196
             316      4.571
-*/
+*`/
 
     double VOC_Vsensor[]  =
     {
@@ -182,3 +182,4 @@ uint8_t  Calculate_Gas_Power_Consumption() // WHS
 return 0xFF;//out of scale
 
 }
+*/
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 9d20d37a4..2ebaa4732 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -166,8 +166,7 @@ void Read_Motors_Driver_ADC(void)
         }
         else
         {
-            ReportWithPackageFilter(GeneralFilter,"the motor's combined driver adc",__FILE__,__LINE__,i,RpMessage,MotorDriverResponse[i].ADC,0);
-
+            //ReportWithPackageFilter(GeneralFilter,"the motor's combined driver adc",__FILE__,__LINE__,i,RpMessage,MotorDriverResponse[i].ADC,0);
         }
 
     }
@@ -192,9 +191,7 @@ void Read_Motors_Driver_ADC(void)
         {
             FPGA_Get_Res(i);
             MotorDriverResponse[i].ADC = Fpga_Spi[i].RX_MISO;
-            LOG_ERROR (i, "the motor's driver type");
-            ReportWithPackageFilter(GeneralFilter,"the motor's driver adc",__FILE__,__LINE__,i,RpMessage,MotorDriverResponse[i].ADC,0);
-
+            //ReportWithPackageFilter(GeneralFilter,"the motor's driver adc",__FILE__,__LINE__,i,RpMessage,MotorDriverResponse[i].ADC,0);
         }
     }
 }
@@ -491,6 +488,8 @@ void FPGA_SetMotorsInit()
 {
     uint8_t i=0;
 
+    MotorConfiguredTimeout = 100;
+
     //since powerstep in stby on powerup)
     F1_Moto_Driver_NSTBYRST1 = 0xFFFF;
     F1_Moto_Driver_NSTBYRST2 = 0xFFFF;
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 ce6b34dd9..aef2be5fe 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
@@ -439,9 +439,11 @@ void SendLimitedBlowerControl(int mV)
         if (JobIsActive())
         {
             JobEndReason = JOB_SAFETY_CRITICAL_ALARM;
+            usnprintf(AlarmReasonStr, 100, "Waste airflow Error %d",mV);
             SendJobProgress(0.0,0,false, "Waste airflow Error");
             AbortJob("Waste airflow Error");
             //SegmentReady(Module_Heaters,ModuleFail);
+
             ReportWithPackageFilter(HeatersFilter, "Waste airflow Error",__FILE__,__LINE__,mV,RpError, 0,0);
             HeatersEnd();
             return;
@@ -592,6 +594,8 @@ void WHS_Start_Blower_Control_Closed_Loop ()
         return; //do not start before controller is initialized and running
     if (EnableControlLoop == false)
         return; //do not start loop
+    if (WHS_Type == WHS_TYPE_NEW)
+        return; //do not start loop
 
     if (count == close_loop_time)
     {
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.h b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.h
index 655a980db..7da9f92a7 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.h
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/FlashProgram.h
@@ -26,6 +26,8 @@
 
 #define FLASH_SIZE 0X8000
 
+extern int base_flashErased;
+
 //*****************************************************************************
 //
 // Read application data from a buffer and program it into flash.
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 42f60a151..53394f4c0 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -73,6 +73,7 @@ bool AlarmHandlingActive = false;
 uint32_t AlarmHandlingControlId = 0xFF;
 uint32_t AlarmHandlingTick = 0;
 
+int MotorConfiguredTimeout = 100;
 double     CurrentAlarmHighLimit ,CurrentAlarmLowLimit;
 bool    CheckHardLimitAlarms = false,CheckCurrentAlarms = false,CheckTamperAlarms = false,CheckMotorAlarms = false;
 uint8_t alarm_response_buffer[500];
@@ -504,7 +505,7 @@ uint32_t AlarmHandlingLoadFile(void)
 
                     if (F_count == 4)
                     {
-                        ReportWithPackageFilter(AlarmFilter,"Writing four alarms", __FILE__,AlarmPtr,F_count, RpMessage, p_size, 0);
+                        //ReportWithPackageFilter(AlarmFilter,"Writing four alarms", __FILE__,AlarmPtr,F_count, RpMessage, p_size, 0);
                         F_count = 0;
                         ReadAppAndProgram(AlarmPtr, p_size,FileAlarmItem);
                         AlarmPtr+=p_size;
@@ -976,7 +977,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
     if ((IFS_Availability[1] == IFS_RECOGNIZED_INIT_PASSED)&&(IFS_Availability[2] == IFS_RECOGNIZED_INIT_PASSED)) //ifs installed -check cartridges
     {
 
-        tempFoundReason = Waste_Prepare();
+        tempFoundReason = Waste_CheckState(&AlarmId);
         if (tempFoundReason!=JOB_OK)
         {
             FoundReason = tempFoundReason;
@@ -1192,6 +1193,9 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
     if (AlarmItem == NULL)
         return ERROR;
     int AlarmCounter=0;
+    if (MotorConfiguredTimeout)
+        MotorConfiguredTimeout--;
+
     for (Alarm_i = 0;Alarm_i < NumOfSystemAlarms;Alarm_i++)
     {
         Status = false;
@@ -1368,7 +1372,7 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
             case ALARM_SOURCE_TYPE__MotorAlarm:
                 if (CheckMotorAlarms)
                 {
-                    if ((FPGA_WD_Occurred == true)||(MachineReadyForHeating == false))
+                    if ((FPGA_WD_Occurred == true)||(MotorConfiguredTimeout > 0))
                     {
                         Status = false;
                     }
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
index 3b39370bf..0ce6d4816 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
@@ -10,6 +10,8 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 #include  <PMR/Diagnostics/EventType.pb-c.h>
 
+extern int MotorConfiguredTimeout;
+
 uint32_t AlarmHandlingFlashLoad(void);
 uint32_t AlarmHandlingLoadFile(void);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 8a14a1d67..689219583 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -822,14 +822,6 @@ uint32_t MillisecLowLoop(uint32_t tick)
     }
     if (Tensecond_Tick)
     {
-    #ifndef RUN_AS_MAIN_JIG
-        //Trigger_MidTank_Pressure_Read();
-        for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
-        {
-            Read_MidTank_Pressure_Sensor(Disp_i);
-        }
-    #endif
-
     }
     if (OneMinute_Tick)
     {
@@ -864,6 +856,14 @@ uint32_t MillisecLowLoop(uint32_t tick)
         {
             Shinko_Cycle_Comm();
         }
+#ifndef RUN_AS_MAIN_JIG
+        //Trigger_MidTank_Pressure_Read();
+        for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
+        {
+            Read_MidTank_Pressure_Sensor(Disp_i);
+        }
+#endif
+
     }
     if (OneHourTick)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 14275533e..0a092821e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -190,6 +190,7 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
                 if (JobIsActive())
                 {
                     JobEndReason = JOB_MOTOR_ALARM;
+                    usnprintf(AlarmReasonStr, 100, "Hardware Failure Error");
                     SendJobProgress(0.0,0,false, "Hardware Failure Error");
                     AbortJob("FPGA Watchdog Error");
                 }
@@ -198,6 +199,8 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
                     ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0);
 
                     ACTIVITY_GREEN_LED_ON;
+                    MotorConfiguredTimeout = 100;
+
                     FPGA_SetMotorsInit();
                     Motor_ReconfigAllMotors();
                 }
@@ -206,6 +209,20 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
 		else
             ACTIVITY_GREEN_LED_OFF;
 
+        if(power.color == colorOFF) Pannel_Leds(POWER_ON_OFF,MODE_OFF);
+        if(jog.color   == colorOFF) Pannel_Leds(THREAD_JOGGING,MODE_OFF);
+        if(load.color  == colorOFF) Pannel_Leds(THREAD_JOGGING,MODE_OFF);
+        if(cart1.color == colorOFF) Pannel_Leds(CART_1,MODE_OFF);
+        if(cart2.color == colorOFF) Pannel_Leds(CART_2,MODE_OFF);
+        if(cart3.color == colorOFF) Pannel_Leds(CART_3,MODE_OFF);
+
+        if(power.color == colorON) Pannel_Leds(POWER_ON_OFF,MODE_ON);
+        if(jog.color   == colorON) Pannel_Leds(THREAD_JOGGING,MODE_ON);
+        if(load.color  == colorON) Pannel_Leds(THREAD_JOGGING,MODE_ON);
+        if(cart1.color == colorON) Pannel_Leds(CART_1,MODE_ON);
+        if(cart2.color == colorON) Pannel_Leds(CART_2,MODE_ON);
+        if(cart3.color == colorON) Pannel_Leds(CART_3,MODE_ON);
+
         if(power.color == fastBILNK)
             Pannel_Leds(POWER_ON_OFF,MODE_OFF);
         else
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index d78b5114f..de4c31ed1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -429,6 +429,13 @@ void LoadChillerState(HeaterType HeaterType,HeaterState *HeaterState)
     HeaterState->setpoint = (float)(ShinkoTempDeg.Read_Setup);
     HeaterState->has_currentvalue = true;
     HeaterState->currentvalue = (float)(ShinkoTempDeg.Read_value);
+    HeaterState->has_isactive = true;
+    HeaterState->isactive = false;
+    HeaterState->has_isrampingup = true;
+    HeaterState->isrampingup = false;
+    HeaterState->has_isinsetpoint = true;
+    HeaterState->isinsetpoint = true;
+
     return;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 2f9088cf1..90c18caa0 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -467,6 +467,7 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
     //if (request->n_winders == 1)
     //    status += InternalWinderConfigMessage(request->winders);
 
+    MotorConfiguredTimeout = 100;
 
     status += MotorsInit();
  
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index c03f7d913..0dda71d16 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -416,9 +416,15 @@ uint32_t ButtonLoadCBFunction(uint32_t IfIndex, uint32_t ReadValue)
            if (ThreadLoadingActive() == false)
            {
                if (JobIsActive())
+               {
                    load.color =  colorOFF;
+                   Pannel_Leds(THREAD_LOAD, MODE_OFF);
+               }
                else
+               {
                    load.color =  colorON;
+                   Pannel_Leds(THREAD_LOAD, MODE_ON);
+               }
            }
            break;
    }
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index d977fe3f3..56b46c98c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -399,6 +399,7 @@ uint32_t HeatersTestInternalAlarmsCBFunction(uint32_t IfIndex, uint32_t readValu
                     if (JobIsActive())
                     {
                         JobEndReason = JOB_TEMPERATURE_ALARM;
+                        usnprintf(AlarmReasonStr, 100, "Internal Temperature %d Error %d",index,readValue);
                         SendJobProgress(0.0,0,false, "Internal Temperature Error");
                         AbortJob("Internal Over Temperature Error");
                         //SegmentReady(Module_Heaters,ModuleFail);
@@ -1188,6 +1189,7 @@ uint32_t DcHeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
             if (JobIsActive()&&(HeaterReady[index]==true))
             {
                 JobEndReason = JOB_TEMPERATURE_ALARM;
+                usnprintf(AlarmReasonStr, 100, "Temperature %d Error %d",index,readValue);
                 SendJobProgress(0.0,0,false, "Temperature Error");
                 AbortJob("Over Temperature Error");
                 //SegmentReady(Module_Heaters,ModuleFail);
@@ -1239,6 +1241,7 @@ uint32_t DcHeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
             if (JobIsActive()&&(HeaterReady[index]==true))
             {
                 JobEndReason = JOB_TEMPERATURE_ALARM;
+                usnprintf(AlarmReasonStr, 100, "Temperature %d Error %d",index,readValue);
                 SendJobProgress(0.0,0,false, "Temperature Error");
                 AbortJob("Under Temperature Error");
                 ReportWithPackageFilter(HeatersFilter, "Temperature Error",__FILE__,__LINE__,index,RpError, 0,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 4fe32e7cd..ab2062293 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -20,6 +20,7 @@
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/Valves/Valve.h"
+#include "Modules/AlarmHandling/AlarmHandling.h"
 
 
 FPGA_GPI_ENUM     Dispenser_Id_to_LS_Id[MAX_SYSTEM_DISPENSERS] = {
@@ -84,7 +85,7 @@ uint32_t InitialDispenserSpeed = INITIAL_DISPENSER_SPEED;
 
 uint32_t    ControlIdtoInactiveDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
 
-uint32_t IDS_StopHomeDispenserBuildPressure (uint32_t deviceID);
+//uint32_t IDS_StopHomeDispenserBuildPressure (uint32_t deviceID);
 
 AutoHoming_Config_enum AutoHoming_Config = AutoHoming_off;
 void IDS_Dispenser_SetAutoHoming_Config(AutoHoming_Config_enum Config)
@@ -350,6 +351,7 @@ uint32_t IDS_StopHomeDispenser (uint32_t DispenserId)
     CurrentDispenserSpeed[DispenserId] = 0;
     return OK;
 }
+/*
 uint32_t IDS_StopHomeDispenserBuildPressure (uint32_t DispenserId)
 {
     assert(DispenserId < MAX_SYSTEM_DISPENSERS);
@@ -380,7 +382,7 @@ uint32_t IDS_StopHomeDispenserBuildPressure (uint32_t DispenserId)
     }
 //    HomingActive[DispenserId]= false;
       ReportWithPackageFilter(IDSFilter,"End homing for job start",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
-  /*  else
+  /`*  else
     {
         ReportWithPackageFilter(IDSFilter,"homing aborted,start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
         DispenserHomingControlId[DispenserId] = AddControlCallback( IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
@@ -389,12 +391,12 @@ uint32_t IDS_StopHomeDispenserBuildPressure (uint32_t DispenserId)
         Task_sleep(10);
         MotorSetSpeed(motorId, 1000);
         CurrentDispenserSpeed[DispenserId] = 1000;
-    }*/
+    }*`/
     //IDS_Dispenser_RefillEnded ( DispenserId, MotorsCfg[motorId].microstep);
 
     return OK;
 }
-
+*/
 uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id)
 {
     int DispenserId;
@@ -501,6 +503,7 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t DispenserId)
     status |= MotorStop(MotorId, Hard_Hiz);
     IDS_Dispenser_Init(DispenserId);
     JobEndReason = JOB_OUT_OF_DYE;
+    usnprintf(AlarmReasonStr, 100, "IDS_Dispenser_Alarm_On %d ",DispenserId);
     return status;
 }
 uint32_t IDS_Dispenser_Alarm_Off (uint8_t DispenserId)
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 462165ee7..9f8491aa1 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -643,6 +643,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
              endOfPrepareWCF = true;
              result = ModuleFail;
              JobEndReason = JOB_PRESSURE_ALARM;
+             usnprintf(AlarmReasonStr, 100, "IDS pressure timeout %d ",DispenserPrepareTimeout);
              pressureReady = true;
              ReportWithPackageFilter(IDSFilter,"pressure timeout!",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)(DispenserPreparePressure*100),0);
              for (i = 0; i < MAX_DYE_DISPENSERS; i++)
@@ -1357,6 +1358,7 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
     {
         ReportWithPackageFilter(IDSFilter,"Error JobBrushStopId",__FILE__,__LINE__,(int)Segment->n_brushstops,RpError,(int)0,0);
         JobEndReason = JOB_OUT_OF_DYE;
+        usnprintf(AlarmReasonStr, 100, "IDS brushstop error %d above %d ",JobBrushStopId,Segment->n_brushstops);
         PreSegmentReady(Module_IDS,ModuleFail);
         return ERROR;
     }
@@ -1449,6 +1451,7 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
         {
             ReportWithPackageFilter(IDSFilter,"End run - BrushStopReadError",__FILE__,__LINE__,(int)FileBrushStop,RpError,(int)0,0);
             JobEndReason = JOB_OUT_OF_DYE;
+            usnprintf(AlarmReasonStr, 100, "IDS brushstop read error");
             PreSegmentReady(Module_IDS,ModuleFail);
         }
     }
@@ -1663,6 +1666,7 @@ uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
         {
             Task_stat(Task_self(),&statbuf);
             ReportWithPackageFilter(IDSFilter,"BrushStopRead Error",__FILE__,statbuf.used,(int)statbuf.stackSize,RpWarning,(int)statbuf.stackHeap,0);
+            usnprintf(AlarmReasonStr, 100, "IDS brushstop error");
             JobEndReason = JOB_OUT_OF_DYE;
             SegmentReady(Module_IDS,ModuleFail);
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
index d62ad3a43..b450d58db 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
@@ -28,6 +28,7 @@
 #include "drivers/Valves/Valve.h"
 #include "../control/control.h"
 #include "Modules/General/buttons.h"
+#include "Modules/General/MachineStatus.h"
 
 #define CARTRIDGE_EMPTY_QUANTITY_LIMIT 10
 #define CARTRIDGE_EMPTY_CALCULATION_TIME 12
@@ -154,6 +155,14 @@ bool CartridgeInkFull()
 }
 #endif
 
+int GetCartridgeFillPercent()
+{
+    double MidTank_Pressure = 0;
+
+    MidTank_Pressure = Read_MidTank_Pressure_Sensor(midTankCartColor);
+    return (((MidTank_Pressure - midTankCapacity)* 100) / CARTRIDGE_CAPATICY);
+}
+
 bool midTankCart_door()
 {
     bool door;
@@ -276,7 +285,7 @@ void midTankStateMachine(void)
                     break;
                 }
                 //check RFID? (TBD)
-                //IFS_State = CARTRIDGE_STATE__Inserted;
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Inserted, 0);
 
                 // send request for validation to ppc
                 inkAuthenticationPass = 2; //not defined
@@ -298,13 +307,13 @@ void midTankStateMachine(void)
                 Report("MidTank Cartridge authentication wait...", __FILE__, __LINE__, authenticationTimeOutCounter, RpMessage, 0, 0);
                 if (authenticationTimeOutCounter > 60) {
                     midTankState = MidTankStateIdle;
-                    //IFS_State = CARTRIDGE_STATE__Error;
+                    CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0);
                 }
                 break;
             }
             if (inkAuthenticationPass == false) {
                 Report("MidTank Cartridge authentication fail", __FILE__, __LINE__, 0, RpMessage, 0, 0);
-                //IFS_State = CARTRIDGE_STATE__Error;
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0);
                 midTankState = MidTankStateIdle;
                 break;
             }
@@ -316,13 +325,13 @@ void midTankStateMachine(void)
                 cart1.color = fastBILNK;
                 Report("Mid-tank not empty", __FILE__, __LINE__, midTankCapacity, RpMessage, MidTankEmptyLimit, 0);
                 midTankState = MidTankStateIdle;
-                //IFS_State = CARTRIDGE_STATE__Exists;
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0);
                 break;
             }
             Report("Mid-tank filling in process", __FILE__,__LINE__,(int)(MidTankEmptyLimit*1000), RpMessage, (int)(midTankCapacity*1000), 0);
             Pannel_Leds(CART_1, MODE_ON);
             cart1.color  = BLINK;
-            //IFS_State = CARTRIDGE_STATE__Filling;
+            CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Filling, 0);
 
             if (midTankCartColor == MIDTANK_8)
             {
@@ -347,7 +356,7 @@ void midTankStateMachine(void)
                 Report("Cartridge extracted during filling!!!", __FILE__, __LINE__, midTankState, RpMessage, 0, 0);
                 Report("Mid-tank # filling fail", __FILE__, __LINE__, midTankState, RpMessage, 0, 0);
                 midTankState = MidTankStateIdle;
-                //IFS_State = CARTRIDGE_STATE__Absent;
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Absent, GetCartridgeFillPercent());
             }
             // if time out or emptying done - idle
             if (midTankTimeoutCounter++ > CartridgeInkTimeout) {
@@ -357,7 +366,7 @@ void midTankStateMachine(void)
                 MidTankValvesAction(Cartridge_MidTank_OFF);
                 Report("Mid-tank # filling fail", __FILE__, __LINE__, midTankState, RpMessage, 0, 0);
                 Report("Call customer support", __FILE__, __LINE__, midTankState, RpMessage, 0, 0);
-                //IFS_State = CARTRIDGE_STATE__Error;
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, GetCartridgeFillPercent());
                 midTankState = MidTankStateIdle;
             } else if (CartridgeInkFull()) {
                 midTankTimeoutCounter = 0;
@@ -366,8 +375,9 @@ void midTankStateMachine(void)
                 MidTankValvesAction(Cartridge_MidTank_OFF);
                 Report("Mid-tank # filling done", __FILE__, __LINE__, midTankState, RpMessage, 0, 0);
                 midTankState = MidTankStateIdle;
-                //IFS_State = CARTRIDGE_STATE__FillingCompleted;
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__FillingCompleted, 100.0);
             }
+            CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Filling, GetCartridgeFillPercent());
             break;
         default:
             Report("wrong state", __FILE__, __LINE__, midTankState, RpMessage, 0, 0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index fb8e97898..a3a0ff38e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -559,7 +559,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         response.progress = Power_Step_01_Mode(((request->delay &0x00FF00)>>8), request->delay &0x0000FF);
         response.has_progress = true;
     }
-    else
+    /*else
     if((request->amount == 0xAB) && (request->delay == 0xAB)) //Get pressure with flow (orifice flow meter)
     {
         response.progress = Calculate_Pitot_Pressure(true);
@@ -572,7 +572,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         response.progress = Calculate_Pitot_Pressure(false);
         response.has_progress = true;
 
-    }
+    }*/
     else
     if((request->amount == 0xAC) && (request->delay == 0xAC)) //VAC
     {
@@ -918,13 +918,13 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
 #endif
     }
-    else
+    /*else
     if((request->amount == 0x0C) && (request->delay == 0x0C)) //Get Gas Sensor
     {
         response.progress = (double)Calculate_Gas_Power_Consumption();
         response.has_progress = true;
 
-    }
+    }*/
     else
     if((request->amount == 0xDD) && (request->delay == 0xDD)) //Read Input Voltage
     {
@@ -948,7 +948,11 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
     if((request->amount == 0x0CD) && (request->delay == 0x0CD)) //Get Gas Sensor
     {
         LOG_ERROR(request->delay,"Load embedded parameters from file and restart");
+        base_flashErased = false;
         LoadConfigurationParamsFromFile(true);
+        LOG_ERROR(255,"Update successful, Rebooting in 5 seconds");
+        Task_sleep (eOneSecond*5);
+        Power_Reset();
         response.progress = (double)OK;
         response.has_progress = true;
 
@@ -1214,6 +1218,14 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         response.has_progress = true;
     }
     else
+    if(request->amount == 0xB21)  //Set loading arm cycles
+    {
+        LOG_ERROR(request->delay,"Set screw max speed");
+
+        response.progress = (double)MotorSetMaxSpeed(HARDWARE_MOTOR_TYPE__MOTO_SCREW,request->delay);
+        response.has_progress = true;
+    }
+    else
     if(request->amount == 0xC3)  //suspend I2C task
     {
         if (request->delay == 0)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index f7ed9065f..63072e4d8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -339,6 +339,7 @@
                     else
                     {
                         load.color = colorON;
+                        Pannel_Leds(THREAD_LOAD, MODE_ON);
                         ThreadLoadingReport();
                     }
                 }
@@ -852,6 +853,7 @@
 
         LoadStages = THREAD_LOAD_INIT;
         load.color = colorON;
+        Pannel_Leds(THREAD_LOAD, MODE_ON);
         return OK;
     }
     uint32_t Thread_Load_switchCallback(uint32_t deviceID, uint32_t BusyFlag)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 0440d2241..a6cb25c45 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -167,6 +167,7 @@ uint32_t Winder_Prepare(void *JobDetails)
             if (IgnoreConeMissing == false)
             {
                 JobEndReason = JOB_THREAD_BREAK;
+                usnprintf(AlarmReasonStr, 100, "No cone in winder");
                 PrepareReady(Module_Winder,ModuleFail);
                 AlarmHandlingSetAlarm(EVENT_TYPE__WINDER_CONE_DOES_NOT_EXIST,true);
                 return ERROR;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 94350f752..bc4e6cb8f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -459,6 +459,7 @@ uint32_t checkBreakSensor(uint32_t index)
                     JobEndReason = JOB_THREAD_BREAK;
                     ThreadControlActive = false;
                     SendJobProgress(0.0,0,false, TMessage);
+                    strcpy(AlarmReasonStr,TMessage);
                     SendSegmentFail();
                     //AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,true);
                     //EndState(CurrentJob,"ReadBreakSensor Error" );
@@ -482,6 +483,7 @@ uint32_t checkBreakSensor(uint32_t index)
                 {
                     //consider applying the debouce parameters later
                     usnprintf(TMessage, 60, "thread speed too low");
+                    strcpy(AlarmReasonStr,TMessage);
                     JobEndReason = JOB_THREAD_BREAK;
                     ThreadControlActive = false;
                     SendJobProgress(0.0,0,false, TMessage);
@@ -685,6 +687,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                 JobEndReason = JOB_WINDER_DANCER_FAIL+HARDWARE_DANCER_0;
 #endif
             SendJobProgress(0.0,0,false, TMessage);
+            strcpy(AlarmReasonStr,TMessage);
             //EndState(CurrentJob,TMessage );
             SendSegmentFail();
             /*switch (index)
@@ -1115,6 +1118,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
     {
         ReportWithPackageFilter(ThreadFilter,"Dyeing head is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpWarning,LIMIT,0);
         //JobEndReason = JOB_LIDS_OPEN;
+        // usnprintf(AlarmReasonStr, 100, "Dyeing head is open!!!");
         //PrepareReady(Module_Thread,ModuleFail);
         //return ERROR;
     }
@@ -1122,6 +1126,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
     {
         ReportWithPackageFilter(ThreadFilter,"Dryer lid is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,RpWarning,LIMIT,0);
         //JobEndReason = JOB_LIDS_OPEN;
+        // usnprintf(AlarmReasonStr, 100, "Dyeing head is open!!!");
         //PrepareReady(Module_Thread,ModuleFail);
         //return ERROR;
     }*/
@@ -1135,6 +1140,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
             if (SkipOpenLids == false)
             {
                 JobEndReason = JOB_LIDS_OPEN;
+                usnprintf(AlarmReasonStr, 100, "Dyeing head is open!!!");
                 PrepareReady(Module_Thread,ModuleFail);
                 return ERROR;
             }
@@ -1155,6 +1161,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
         if (SkipOpenLids == false)
         {
             JobEndReason = JOB_LIDS_OPEN;
+            usnprintf(AlarmReasonStr, 100, "Dryer lid is open!!!");
             PrepareReady(Module_Thread,ModuleFail);
             return ERROR;
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
index 8a075bfd4..db15a9ffd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h
@@ -44,7 +44,7 @@ bool WHS_IsContainerFull();
 bool WHS_WasteCartridgeLowerPresent();
 bool WHS_WasteCartridgeMiddlePresent();
 bool WHS_IsEmptying();
-uint32_t Waste_CheckState(void);
+uint32_t Waste_CheckState(int *AlarmId);
 uint32_t Waste_Prepare(void);
 bool WHS_IsVocPpmOverAlarmLimit();
 void setWastePrepareValues(float HeadLimit,float WasteLimit);
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
index 1de7f1319..bfed5d0ee 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
@@ -22,6 +22,7 @@
 #include "CartridgeValidationResponse.pb-c.h"
 #include "Modules/General/buttons.h"
 #include "modules/General/process.h"
+#include "Modules/General/MachineStatus.h"
 #include "Modules/IFS/ifs.h"
 #include <Drivers/I2C_Communication/I2C_Task.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.h>
@@ -36,7 +37,7 @@ bool DoorState = OPEN;
 uint32_t timeout_counter = 0;
 int wasteLevel = 0;
 WasteCartridgeEnum SelectedCard = MaxWasteCartridges;
-CartridgeStateEnum CartState[MaxWasteCartridges];
+CartridgeStateEnum CartState[MaxWasteCartridges];// = {CartridgeStateOUT,CartridgeStateOUT,CartridgeStateOUT};
 uint32_t Cartridge_Cover_Control;
 button *CartLed[MaxWasteCartridges] = {0, &cart2, &cart3};
 WasteTankStateEnum WasteTankState = WasteTankStateIdle;
@@ -65,6 +66,7 @@ void cartCART_INSERTED (WasteCartridgeEnum CartId)
     if (CartState[CartId] != CartridgeStateOUT)
         Report("Cartridges Cart inserted wrong state", __FILE__, __LINE__, CartId, RpMessage, CartState[CartId], 0);
     CartState[CartId] = CartridgeStateIN;
+    Pannel_Leds((CartId == WasteCartridge_middle)?CART_2:CART_3, MODE_ON);
     CartLed[CartId]->color = colorON;
 
     Report("Cartridges Cart inserted", __FILE__, __LINE__, CartId, RpMessage, CartState[CartId], 0);
@@ -77,6 +79,7 @@ void cartCART_EXTRACTED(WasteCartridgeEnum CartId) //{called from polling functi
 
     Report("Cartridges Cart extracted", __FILE__, __LINE__, CartId, RpMessage, CartState[CartId], 0);
     CartState[CartId] = CartridgeStateOUT;
+    Pannel_Leds((CartId == WasteCartridge_middle)?CART_2:CART_3, MODE_OFF);
     CartLed[CartId]->color = colorOFF;
     if (init==0)
         WHS_Set_IFS_Clearing_Suction(NUM_OF_MIDTANKS);
@@ -259,6 +262,10 @@ bool RdWasteTankOverFlowSensor()
     return 0;
 }
 
+int WHS_GetCartridgeFillPercent()
+{
+    return (((wasteLevel - wasteLevelEmpty) * 100) / WASTE_CARTRIDGE_SIZE);
+}
 bool WHS_IsContainerFull()
 {
     return RdWasteTankFullSensor();
@@ -343,6 +350,7 @@ void Waste_StateMachine_OneSecond_Call(void)
     if ((Is_Cartridge_Present(CART_2) != cartGetPresence(WasteCartridge_middle)) || (init)) {
         if (Is_Cartridge_Present(CART_2)) {
             cartCART_INSERTED(WasteCartridge_middle);
+            CartridgeStateUpdate(CARTRIDGE_SLOT__WasteMiddle, CARTRIDGE_STATE__Inserted, 0);
         } else {
             cartCART_EXTRACTED(WasteCartridge_middle);
         }
@@ -350,6 +358,7 @@ void Waste_StateMachine_OneSecond_Call(void)
     if ((Is_Cartridge_Present(CART_3) != cartGetPresence(WasteCartridge_lower)) || (init)) {
         if (Is_Cartridge_Present(CART_3)) {
             cartCART_INSERTED(WasteCartridge_lower);
+            CartridgeStateUpdate(CARTRIDGE_SLOT__WasteLower, CARTRIDGE_STATE__Inserted, 0);
         } else {
             cartCART_EXTRACTED(WasteCartridge_lower);
         }
@@ -451,15 +460,18 @@ void Waste_StateMachine(void)
 
             //start  emptying
             WasteTankState = WasteTankStateEmptying;
+            CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Emptying, 0);
             break;
         case WasteTankStateEmptying:
             // if time out or emptying done - idle
+            activeCart = cartGetActiveCart();
             if (timeout_counter++ > WASTE_EMPTING_TIMEOUT) {
                 SetWastePump(CLOSE);
                 cartFILLING_END();
                 // RFID change status - TBD
                 WasteTankState = WasteTankStateIdle;
                 Report("WasteTankStateEmptying TimeOut", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+                CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent());
                 AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT,  true);
                 RemoveControlCallback(Cartridge_Cover_Control, Waste_DoorOpenDuringEmptying);
                 timeout_counter = 0;
@@ -473,8 +485,10 @@ void Waste_StateMachine(void)
                 //if (cartNotAllFull() == false)
                     AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
                 Report("WasteTankStateEmptying done", __FILE__, __LINE__, 0, RpMessage, 0, 0);
+                CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__EmptyingCompleted, WHS_GetCartridgeFillPercent());
                 timeout_counter = 0;
             }
+            CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Emptying, WHS_GetCartridgeFillPercent());
 #ifdef WHS_DEBUG
             wasteLevel -= 100;
             timeout_counter += 10;
@@ -495,7 +509,7 @@ void Waste_StateMachine(void)
                     AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
                 Report("WasteTankStatePaused done", __FILE__, __LINE__, 0, RpMessage, 0, 0);
                 timeout_counter = 0;
-
+                CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent());
             }
             break;
         default:
@@ -503,7 +517,7 @@ void Waste_StateMachine(void)
             break;
     }
 }
-uint32_t Waste_CheckState(void)
+uint32_t Waste_CheckState(int *AlarmId)
 {
     //check if the waste is ready to run - waste level not above overflow level and no cartridge in the slots
     if (wasteLevel > wasteLevelOverflow)
@@ -512,6 +526,7 @@ uint32_t Waste_CheckState(void)
         JobEndReason = JOB_SAFETY_CRITICAL_ALARM;
         usnprintf(AlarmReasonStr, 100, "cannot start a job with waste tank overflow");
         AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_OVERFLOW,  true);
+        *AlarmId = EVENT_TYPE__WASTE_CONTAINER_OVERFLOW;
         //PrepareReady(Module_Waste,ModuleFail);
         return JOB_SAFETY_CRITICAL_ALARM;
     }
@@ -525,6 +540,7 @@ uint32_t Waste_CheckState(void)
         Report("cannot start a job with cartridges in the IFS", __FILE__, __LINE__, wasteLevel, RpMessage, wasteLevelOverflow, 0);
         JobEndReason = JOB_WASTE_HANDLING_PROBLEM;
         AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
+        *AlarmId = EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL;
         usnprintf(AlarmReasonStr, 100, "cannot start a job with cartridges in the IFS");
         //PrepareReady(Module_Waste,ModuleFail);
         return JOB_WASTE_HANDLING_PROBLEM;
@@ -565,7 +581,7 @@ uint32_t Waste_PrepareCallbak(uint32_t IfIndex, uint32_t ReadValue)
             Report("Module waste HeadOut_FlowReady ready", __FILE__, __LINE__, (int)(HeadOut_Flow*100), RpMessage, WHS_FlowReady, 0);
         HeadOut_FlowReady = true;
     }
-    if (Head_Type <HEAD_TYPE_FLAT)
+    if (Head_Type <=HEAD_TYPE_FLAT)
         headready = true;
     else if ((HeadIn_FlowReady == true)&&(HeadOut_FlowReady == true))
         headready = true;
@@ -609,6 +625,7 @@ bool WHS_IsVocPpmOverAlarmLimit()
     if( (  Latest_Gas_Sens_PPM > VocPpmAlarmLimit                                        ) ||     //PPM
         ( (Latest_Gas_Sens_PPM > VocPpmAlarmLimit90Percent) && (ReadingVocEverySec == true) )     ) //Hysteresis
     {
+        Report("VOC nearing alarm state", __FILE__, (int)(Latest_Gas_Sens_PPM*100), VocPpmAlarmLimit, RpMessage, counter, 0);
         //reading every sec
         ReadingVocEverySec = true;
         if(counter < 0xFF)
@@ -616,11 +633,11 @@ bool WHS_IsVocPpmOverAlarmLimit()
             counter++;
         }
 
-        if(counter > VocPpmLimitForXSec)//Sec
+        /*if(counter > VocPpmLimitForXSec)//Sec
         {
             AlarmHandlingSetAlarm(EVENT_TYPE__VOC_SENSOR_ALARM_SLOPE,true);
             return true;//Buzzer ON if defined
-        }
+        }*/
     }
     else
     {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
index dc7c09499..3a0c94e27 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
@@ -363,6 +363,7 @@ uint32_t PowerOffStopRunningJob(void)
     {
         REPORT_MSG (PowerOffMachineState, "Stop running job");
         JobEndReason = JOB_ABORTED_BY_USER;
+        usnprintf(AlarmReasonStr, 100, "Power off pressed");
         AbortJob("Power off pressed");
     }
     PowerOffMachineState++;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index ca859f390..0a176c2cb 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -1014,11 +1014,14 @@ void JobRequestFunc(MessageContainer* requestContainer)
         responseContainer = createContainer(MESSAGE_TYPE__JobResponse, JobToken, true, &response, &job_response__pack, &job_response__get_packed_size);
         responseContainer.has_error = true;
         responseContainer.error = error;
+        if (strlen(ErrorMsg))
+            responseContainer.errormessage = ErrorMsg;
         container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
     }
     if (container_buffer)
     {
         size_t container_size = message_container__pack(&responseContainer, container_buffer);
+        ErrorMsg[0] = 0;
         my_free(responseContainer.data.data);
         SendChars((char*)container_buffer, container_size);
         //We keep the job request until it is done
@@ -1152,6 +1155,8 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
                 {
                     responseContainer.has_error = true;
                     responseContainer.error = JobError_to_ErrorCode[JobEndReason];
+                    if (strlen(ErrorMsg))
+                        responseContainer.errormessage = ErrorMsg;
                 }
                 if (JobAbortedByUser == true)
                 {
@@ -1165,6 +1170,7 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
             {
                 size_t container_size = message_container__pack(&responseContainer, container_buffer);
                 //        if (SendChars(container_buffer, container_size) == false) //comm tx mailbox full
+                ErrorMsg[0] = 0;
                 if (SendCharsWithType(container_buffer, container_size,MESSAGE_TYPE__JobResponse) == false) //comm tx mailbox full
                 {
                     //AlarmHandlingToken[0] = 0;
@@ -1200,6 +1206,9 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
                 default:
                     break;
             }
+            if (strlen(AlarmReasonStr))
+                strncpy(ErrorMsg,AlarmReasonStr,100);
+
         }
         JobMessageStruc JobMessage;
 
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 3b0844934..9e43bfb07 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -28,6 +28,7 @@
 #include "modules/Heaters/Heaters_ex.h"
 #include "modules/Diagnostics/Diagnostics.h"
 #include "modules/ids/ids_ex.h"
+#include "Modules/AlarmHandling/AlarmHandling.h"
 
 #include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
@@ -756,6 +757,7 @@ void PrintSTMMsgHandler(void * msg)
                         if (RewindJobFile() != FR_OK)
                         {
                           JobEndReason = JOB_FILE_PROBLEM;
+                          usnprintf(AlarmReasonStr, 100, "Job file processing error");
                           if (dryerbufferlength <= 0.1)
                               EndState(CurrentJob, "Job Ended");
                           else
@@ -795,6 +797,7 @@ void PrintSTMMsgHandler(void * msg)
                             else
                             {
                               JobEndReason = JOB_FILE_PROBLEM;
+                              usnprintf(AlarmReasonStr, 100, "Job file processing error");
                               if (dryerbufferlength <= 0.1)
                                   EndState(CurrentJob, "Job Ended");
                               else
@@ -814,6 +817,7 @@ void PrintSTMMsgHandler(void * msg)
 					{
 			            Report("SegmentLoading failed",__FILE__,__LINE__, Segment,RpMessage,(int)(Segment->length*100),0);
 					  JobEndReason = JOB_FILE_PROBLEM;
+                      usnprintf(AlarmReasonStr, 100, "Job file processing error");
                       if (dryerbufferlength <= 0.1)
 	                      EndState(CurrentJob, "Job Ended");
 	                  else