Version 1.5.2(1): fix some bugs. improve / fix Update Pid during run, and cartridge state

11 files changed, 105 insertions, 47 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index 76c2fe9f2..77efa1cfd 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -653,7 +653,7 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     GetFilesRequest* request = get_files_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
     GetFilesResponse response = GET_FILES_RESPONSE__INIT;
-
+    //struct tm RTC_time;
     #define MAX_NUM_OF_FILES 20
     DIR dir;
     FILINFO* fno[MAX_NUM_OF_FILES];
@@ -727,6 +727,13 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
               else
                usnprintf(&FullPath[i], 50,  "%s%s%s", request->path,"/", fno[i]->fname);
            Data[i].fullpath = &FullPath[i][0];
+           /*RTC_time.tm_year=(fno[i]->fdate>>9)+1980;//populate the time struct (FAT start==1980, RTC.year==0)
+           RTC_time.tm_mon=(fno[i]->fdate>>5)&0x000F;
+           RTC_time.tm_mday=fno[i]->fdate&0x001F;
+           RTC_time.tm_hour=(fno[i]->ftime>>11)&0x001F;
+           RTC_time.tm_min=(fno[i]->ftime>>5)&0x003F;
+           RTC_time.tm_sec=(fno[i]->ftime<<1)&0x003E;*/
+
 
         }
         response.n_items = NumOfFiles;
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 fd6889185..d0193f970 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 = {1,5,2,0};
+TangoVersion_t _gTangoVersion = {1,5,2,1};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
 
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index c1d83abb3..ed1ecbefa 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -182,8 +182,8 @@ Void errHook(Error_Block *eb)
             System_printf("assertion violation: ");
             f_write(LogFileHandle,"\r\nassertion violation: ",22,&Bytes );
         }
+        CloseLogFile();
     }
-    CloseLogFile();
 
 
 #ifdef WATCHDOG
@@ -222,6 +222,7 @@ void Init_EVB()
 
 int main(void)
 {
+    FRESULT Fresult = FR_OK;
     // Enable interrupts to the processor.
     //
     ROM_IntMasterDisable();
@@ -255,6 +256,39 @@ int main(void)
         LOG_ERROR (iFResult, "Error during init Flash File System");
         assert(iFResult);
     }
+    Fresult = f_mkdir("0://SysInfo");
+    if ((Fresult != FR_OK)&&(Fresult != FR_EXIST))
+    {
+#ifdef WATCHDOG
+        ROM_WatchdogResetDisable(WATCHDOG0_BASE);
+        uint32_t timeout = 0xFFFFFFFFU;
+        ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
+#endif
+        STATUS_GREEN_LED_ON;
+        ACTIVITY_GREEN_LED_ON;
+        COMM_GREEN_LED_ON;
+
+        STATUS_RED_LED_ON;
+        ACTIVITY_RED_LED_ON;
+        COMM_RED_LED_ON;
+        //FFS error
+        Report("FFS error - rebuilding", __FILE__,__LINE__,Fresult, RpMessage,0, 0);
+        FRESULT iFResult = Init_Flash_File_System(true);// true
+        Fresult = f_mkdir("0://SysInfo");
+
+        ACTIVITY_GREEN_LED_OFF;
+        COMM_GREEN_LED_OFF;
+
+        STATUS_RED_LED_OFF;
+        ACTIVITY_RED_LED_OFF;
+        COMM_RED_LED_OFF;
+#ifdef WATCHDOG
+        ROM_WatchdogResetEnable(WATCHDOG0_BASE);
+        timeout = 120000000*3;
+        ROM_WatchdogReloadSet(WATCHDOG0_BASE, timeout);
+#endif
+    }
+
     OpenLogFile();
     Data = MCU_E2PromEmbeddedVersionRead();
     memcpy (&Version,&Data,4);
diff --git a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c
index 4c248e94b..bf68b64f0 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c
@@ -245,7 +245,7 @@ return OK;
  * */
 
 char WasteEmptyingToken[36+1] = {0};
-uint32_t CartridgeStateUpdate(CartridgeSlot Slot,CartridgeState State, double percentage)
+uint32_t CartridgeStateUpdate(CartridgeSlot Slot, int32_t index, CartridgeState State, double percentage)
 {
     if (WasteEmptyingToken[0] == 0)
         return ERROR;
@@ -271,6 +271,9 @@ uint32_t CartridgeStateUpdate(CartridgeSlot Slot,CartridgeState State, double pe
     CartData.has_slot = true;
     CartData.slot = Slot;
 
+    CartData.has_index = true;
+    CartData.index = index;
+
     /*
         struct  _CartridgeStatus
         {
@@ -327,9 +330,9 @@ uint32_t StartInkFillingStatusRequestFunc(MessageContainer* requestContainer)
     StartInkFillingStatusRequest* request = start_ink_filling_status_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     ustrncpy (WasteEmptyingToken, requestContainer->token,36);
 
-    CartridgeStateUpdate(CARTRIDGE_SLOT__Ink,CARTRIDGE_STATE__None,0);
-    CartridgeStateUpdate(CARTRIDGE_SLOT__WasteMiddle,CARTRIDGE_STATE__None,0);
-    CartridgeStateUpdate(CARTRIDGE_SLOT__WasteLower,CARTRIDGE_STATE__None,0);
+    CartridgeStateUpdate(CARTRIDGE_SLOT__Ink,0, CARTRIDGE_STATE__None,0);
+    CartridgeStateUpdate(CARTRIDGE_SLOT__WasteMiddle, 0, CARTRIDGE_STATE__None,0);
+    CartridgeStateUpdate(CARTRIDGE_SLOT__WasteLower, 1, CARTRIDGE_STATE__None,0);
     start_ink_filling_status_request__free_unpacked(request,NULL);
     return status;
 //    case MESSAGE_TYPE__StartWasteEmptyingRequest:
diff --git a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.h b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.h
index ed3ec205d..a9539e0fa 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.h
+++ b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.h
@@ -19,7 +19,7 @@ void SetMachineStatus (MachineState State);
 int MachineUpdateResponseFunc(void);
 uint32_t StartInkFillingStatusRequestFunc(MessageContainer* requestContainer);
 
-uint32_t CartridgeStateUpdate(CartridgeSlot Slot,CartridgeState State, double percentage);
+uint32_t CartridgeStateUpdate(CartridgeSlot Slot, int32_t index, CartridgeState State, double percentage);
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
index 5be5f1232..aa2520057 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
@@ -53,7 +53,7 @@
 #define PRESSURE_SENSOR_CP      0.269
 #define PRESSURE_SENSOR_B       0.45
 #define V0_DEFAULT_VALUE        1050
-#define FAN_MIN_RPM_THRESHOLD   3200
+#define FAN_MIN_RPM_THRESHOLD   4000
 extern uint16_t Head_Fan_Tach[2];
 extern uint8_t Head_Fan_PWM_Command[2];
 
@@ -354,13 +354,12 @@ void HeadBlowersCfg()
 
 uint32_t PressureSensorInit(int blowerId)
 {
-    uint32_t V0;
+    uint32_t rpm, V0 = 0;
 
-    if (HeadBlowersGetRPM(blowerId) < FAN_MIN_RPM_THRESHOLD) {
+    rpm = HeadBlowersGetRPM(blowerId);
+    if (rpm < FAN_MIN_RPM_THRESHOLD) {
         V0 = MillisecGetTemperatures(BlowerIdToSensorId[blowerId]);
         V0 /= 10;
-    } else {
-        V0 = V0_DEFAULT_VALUE;
     }
     return V0;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
index 329357ed4..9f7a342ba 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
@@ -284,7 +284,6 @@ void midTankStateMachine(void)
                     break;
                 }
                 //check RFID - check cartridge OK
-                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Inserted, 0);
 
                 // send request for validation to ppc
                 inkAuthenticationPass = 2; //not defined
@@ -306,17 +305,18 @@ void midTankStateMachine(void)
                 Report("MidTank Cartridge authentication wait...", __FILE__, __LINE__, authenticationTimeOutCounter, RpMessage, 0, 0);
                 if (authenticationTimeOutCounter > 60) {
                     midTankState = MidTankStateIdle;
-                    CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0);
+                    CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Error, 0);
                 }
                 break;
             }
             if (inkAuthenticationPass == false) {
                 Report("MidTank Cartridge authentication fail", __FILE__, __LINE__, 0, RpMessage, 0, 0);
-                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0);
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Error, 0);
                 midTankState = MidTankStateIdle;
                 break;
             }
             // Cartridge status received from user - assume cartridge is full
+            CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Inserted, 0);
 
             midTankCapacity = Get_MidTank_Pressure_Sensor(midTankCartColor);
             if ((midTankCapacity > MidTankEmptyLimit)&&(midTankCartColor!=MIDTANK_8))//enable lubricant filling in two stages
@@ -325,13 +325,13 @@ void midTankStateMachine(void)
                 cart1.color = fastBILNK;
                 Report("Mid-tank not empty", __FILE__, __LINE__, midTankCapacity, RpMessage, MidTankEmptyLimit, 0);
                 midTankState = MidTankStateIdle;
-                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, 0);
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, 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;
-            CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Filling, 0);
+            CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Filling, 0);
 
             if (midTankCartColor == MIDTANK_8)
             {
@@ -356,7 +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;
-                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Absent, GetCartridgeFillPercent());
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Absent, GetCartridgeFillPercent());
             }
             // if time out or emptying done - idle
             if (midTankTimeoutCounter++ > CartridgeInkTimeout) {
@@ -366,7 +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);
-                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Error, GetCartridgeFillPercent());
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Error, GetCartridgeFillPercent());
                 midTankState = MidTankStateIdle;
             } else if (CartridgeInkFull()) {
                 midTankTimeoutCounter = 0;
@@ -376,9 +376,9 @@ void midTankStateMachine(void)
                 Report("Mid-tank # filling done", __FILE__, __LINE__, midTankState, RpMessage, 0, 0);
                 midTankState = MidTankStateIdle;
                 // RFID change status - inkEmpty
-                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__FillingCompleted, 100.0);
+                CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__FillingCompleted, 100.0);
             }
-            CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, CARTRIDGE_STATE__Filling, GetCartridgeFillPercent());
+            CartridgeStateUpdate(CARTRIDGE_SLOT__Ink, midTankCartColor, CARTRIDGE_STATE__Filling, GetCartridgeFillPercent());
             break;
         default:
             Report("wrong state", __FILE__, __LINE__, midTankState, RpMessage, 0, 0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 626bcde7c..8d798b402 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -217,12 +217,7 @@ uint32_t StoreDancerConfigMessage(int DancerId)
 
 
     status |= MCU_E2PromProgram(DancerAddress[Dancer_i],DancersCfg[Dancer_i].zeropoint);
-    Report("~~~~~~Store eeprom 0",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg[1].zeropoint,RpWarning,(int)DancersCfg[2].zeropoint,0);
-#ifdef FOUR_WINDERS
-    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_3,DancersCfg[HARDWARE_DANCER_3].zeropoint);
-    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_4,DancersCfg[HARDWARE_DANCER_4].zeropoint);
-    Report("~~~~~~Store eeprom 1",__FILE__,__LINE__,(int)DancersCfg[HARDWARE_DANCER_3].zeropoint,RpWarning,(int)DancersCfg[HARDWARE_DANCER_4].zeropoint,0);
-#endif
+    Report("~~~~~~Store eeprom",__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/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 8d41f3b9a..5fee72dc7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -1338,22 +1338,22 @@ uint32_t UpdatePidDuringRun(HardwarePidControl *request)
         return ERROR;
 
 
-    if (request->derivativetime == true)
+    if (request->has_derivativetime == true)
     {
         MotorControlConfig[Motor_i].m_params.Kd = request->derivativetime;
         ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Kd",__FILE__,Motor_i,(int)(request->derivativetime),RpWarning,0,0);
     }
-    if (request->proportionalgain == true)
+    if (request->has_proportionalgain == true)
     {
         MotorControlConfig[Motor_i].m_params.Kp = request->proportionalgain;
         ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Kp",__FILE__,Motor_i,(int)(request->proportionalgain),RpWarning,0,0);
     }
-    if (request->integraltime == true)
+    if (request->has_integraltime == true)
     {
         MotorControlConfig[Motor_i].m_params.Ki = request->integraltime;
         ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun Ki",__FILE__,Motor_i,(int)(request->integraltime),RpWarning,0,0);
     }
-    if (request->epsilon == true)
+    if (request->has_epsilon == true)
     {
         MotorControlConfig[Motor_i].m_params.epsilon = request->epsilon;
         ReportWithPackageFilter(ThreadFilter,"UpdatePidDuringRun epsilon",__FILE__,Motor_i,(int)(request->epsilon*10000),RpWarning,0,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
index 9c5fe9822..f0b148b83 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
@@ -42,6 +42,7 @@ uint32_t Cartridge_Cover_Control;
 button *CartLed[MaxWasteCartridges] = {0, &cart2, &cart3};
 WasteTankStateEnum WasteTankState = WasteTankStateIdle;
 
+extern char WasteEmptyingToken[36+1];
 int init = 1;
 
 bool setWasteValve (WasteCartridgeEnum WasteCartridge);
@@ -165,7 +166,7 @@ WasteCartridgeEnum cartGetActiveCart()
 {
     uint32_t CartId;
 
-    for (CartId = 0; CartId < MaxWasteCartridges; CartId++) {
+    for (CartId = WasteCartridge_middle; CartId < MaxWasteCartridges; CartId++) {
         if (CartState[CartId] == CartridgeStateACTIVE)
             return CartId;
     }
@@ -223,10 +224,13 @@ bool setWasteValve (WasteCartridgeEnum WasteCartridge)
 bool RdWasteTankEmptySensor()
 {
     //double WasteLevel = 0.0;
-
+#ifndef WHS_DEBUG
     if (WHS_Type == WHS_TYPE_UNKNOWN) {
         return WHS_GPI_WCONTAINER_WARN();
-    } else { //new WHS
+    }
+    else
+#endif
+    { //new WHS
         //WasteLevel = GetWHSWasteTankLevelMiliLiter();
         if (wasteLevel < wasteLevelEmpty)
             return 1; //Empty
@@ -237,10 +241,13 @@ bool RdWasteTankEmptySensor()
 bool RdWasteTankFullSensor()
 {
     //double WasteLevel = 0.0;
-
+#ifndef WHS_DEBUG
     if (WHS_Type == WHS_TYPE_UNKNOWN) {
         return WHS_GPI_WCONTAINER_FULL();
-    } else { //new WHS
+    }
+    else
+#endif
+    { //new WHS
         //WasteLevel = GetWHSWasteTankLevelMiliLiter();
         if (wasteLevel >= wasteLevelFull)
             return 1; //full
@@ -251,10 +258,13 @@ bool RdWasteTankFullSensor()
 bool RdWasteTankOverFlowSensor()
 {
     //double WasteLevel = 0.0;
-
+#ifndef WHS_DEBUG
     if (WHS_Type == WHS_TYPE_UNKNOWN) {
         return WHS_GPI_WASTE_OVERFULL();
-    } else {//new WHS
+    }
+    else
+#endif
+    {//new WHS
         //WasteLevel = GetWHSWasteTankLevelMiliLiter();
         if (wasteLevel > wasteLevelOverflow)
             return 1; //overflow
@@ -348,13 +358,14 @@ uint32_t Waste_DoorOpenDuringEmptying(uint32_t IfIndex, uint32_t ReadValue)
 void Waste_StateMachine_OneSecond_Call(void)
 {
     static WasteTankStateEnum prev_state = 0;
-    static int prev_wasteLevel = 0;
+    static int cart, prev_wasteLevel = 0;
+    static int insertUpdate[3] = {0, 0, 0};
 
     //call cartridge state
     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);
+            insertUpdate[CARTRIDGE_SLOT__WasteMiddle-1] = 1;
         } else {
             cartCART_EXTRACTED(WasteCartridge_middle);
         }
@@ -362,12 +373,20 @@ 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);
+            insertUpdate[CARTRIDGE_SLOT__WasteLower-1] = 1;
         } else {
             cartCART_EXTRACTED(WasteCartridge_lower);
         }
     }
 
+    //update ppc
+    for (cart = WasteCartridge_middle; cart <= WasteCartridge_lower; cart++) {
+        if ((insertUpdate[cart]) && (WasteEmptyingToken[0])) {
+            CartridgeStateUpdate(cart, cart-1, CARTRIDGE_STATE__Inserted, 0);
+            insertUpdate[cart] = 0;
+        }
+    }
+
     //call door state
     cartCart_door();
 
@@ -467,7 +486,7 @@ void Waste_StateMachine(void)
             //start  emptying
             // RFID change status - set wasteFilling
             WasteTankState = WasteTankStateEmptying;
-            CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Emptying, 0);
+            CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__Emptying, 0);
             break;
         case WasteTankStateEmptying:
             // if time out or emptying done - idle
@@ -478,7 +497,7 @@ void Waste_StateMachine(void)
                 WasteTankState = WasteTankStateIdle;
                 usnprintf(str, 100, "WasteTankStateEmptying Timeout. time:%d:%d volume:%d", timeout_counter/60, timeout_counter%60, WHS_GetCartridgeFill());
                 Report(str, __FILE__, __LINE__, 0, RpMessage, 0, 0);
-                CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent());
+                CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent());
                 AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT,  true);
                 RemoveControlCallback(Cartridge_Cover_Control, Waste_DoorOpenDuringEmptying);
                 timeout_counter = 0;
@@ -493,10 +512,10 @@ void Waste_StateMachine(void)
                     AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
                 usnprintf(str, 100, "WasteTankStateEmptying done. time:%d:%d volume:%d", timeout_counter/60, timeout_counter%60, WHS_GetCartridgeFill());
                 Report(str, __FILE__, __LINE__, 0, RpMessage, 0, 0);
-                CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__EmptyingCompleted, WHS_GetCartridgeFillPercent());
+                CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__EmptyingCompleted, WHS_GetCartridgeFillPercent());
                 timeout_counter = 0;
             }
-            CartridgeStateUpdate(activeCart, CARTRIDGE_STATE__Emptying, WHS_GetCartridgeFillPercent());
+            CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__Emptying, WHS_GetCartridgeFillPercent());
 #ifdef WHS_DEBUG
             wasteLevel -= 100;
             timeout_counter += 10;
@@ -517,7 +536,7 @@ 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());
+                CartridgeStateUpdate(activeCart, activeCart-1, CARTRIDGE_STATE__Error, WHS_GetCartridgeFillPercent());
             }
             break;
         default:
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
index 98326a1da..5d97a0003 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
@@ -917,6 +917,7 @@ uint32_t PowerUpUpdate(MACHINE_STATE_STAGES_ENUM stage)
         {
             RemoveControlCallback(PowerUpLoadControlId, PowerUpUpdateCallBackFunction);
             PowerUpLoadControlId = 0xFF;
+            PowerUpStopReporting();
         }
     }
     return status;