merge conflict

15 files changed, 174 insertions, 69 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/ustdlib.c b/Software/Embedded_SW/Embedded/Common/Utilities/ustdlib.c
index 420e1dbc3..749152b2e 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/ustdlib.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/ustdlib.c
@@ -819,7 +819,7 @@ usnprintf(char * restrict s, size_t n, const char * restrict format, ...)
     //
     // Call vsnprintf to perform the conversion.
     //
-    ret = uvsnprintf(s, n, format, arg);
+    ret = vsnprintf(s, n, format, arg);
 
     //
     // End the varargs processing.
diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.c b/Software/Embedded_SW/Embedded/Communication/Connection.c
index 72108eeea..5396938fd 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.c
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.c
@@ -53,6 +53,7 @@ void StopRecurringReports(void)
     PowerUpStopReporting();
     MachineUpdateStopReporting();
     PowerDownStopReporting();
+    HomingStopReporting();
 
     KeepAliveActive = false;
 }
@@ -159,6 +160,7 @@ void DisconnectionRequest(MessageContainer* requestContainer)
     DiagnosticsStop();
     JobStopReporting();
     AlarmHandlingStop();
+    HomingStopReporting();
     //UART_ResetBuffers();
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 3cd3969be..9f13f65ce 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -659,7 +659,6 @@ 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
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.c
index 3e36d3bba..ea45c89fe 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.c
@@ -689,7 +689,7 @@ bool WHS_Control_blub(bool value)
     }
     else
     {
-        #warning Add warning message
+        LOG_ERROR (WHS_HW_Ver, "wrong whs hw version");
         status = ERROR;
     }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 5f6cdf1c6..8beab771d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -540,7 +540,8 @@ int MillisecCalculateTemperatures (TEMPERATURE_SENSOR_ID_ENUM SensorId)
     TemperatureSum[SensorId]-=TemperatureMax[SensorId];
     TemperatureSum[SensorId]-=TemperatureMin[SensorId];
     calc = TemperatureSum[SensorId] / (TemperatureCount[SensorId]-2);
-
+    if (abs(TemperatureMax[SensorId]-TemperatureMin[SensorId])>2000)
+        Report("Millisec Temp spike",__FILE__,SensorId,(int)TemperatureMax[SensorId],RpWarning,(int) TemperatureMin[SensorId],0);
     TemperatureSum[SensorId] = 0;
     TemperatureCount[SensorId] = 0;
     TemperatureMin[SensorId] = 30000;
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index 4122955b3..11a48b587 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -545,7 +545,7 @@ void CopyTemperaturesToMonitor(void)
         headblowervoltage2 = HeadBlowersGetRPM(HEAD_FAN_LEFT);
         DiagnosticsMonitor.headblowervoltage1 = &headblowervoltage1;
         DiagnosticsMonitor.headblowervoltage2 = &headblowervoltage2;
-#warning machine to machine test
+//#warning machine to machine test
         DiagnosticsMonitor.headzone4temperature =
                 HeaterTemperature[HEATER_TYPE__HeaterZone4];
         DiagnosticsMonitor.headzone9temperature =
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
index 7ec1962f3..e0afad820 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.h
@@ -54,6 +54,7 @@ uint32_t SetBlowerStateRequestFunc(MessageContainer* requestContainer);
 
 void DiaglosticChangeBlowerData();
 
+void HomingStopReporting(void);
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 9a14cd1b8..086525bc1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -46,6 +46,16 @@ uint32_t Diagnostics_Dryer_UnLoading(void);
 uint32_t Diagnostics_Dryer_Loading(void);
 int kval_upper_value;
 
+void HomingStopReporting(void)
+{
+    int i;
+    for (i = 0; i< NUM_OF_MOTORS;i++)
+    {
+        HomingToken[i][0] == 0;
+    }
+    LOG_ERROR(0,"HomingStopReporting");
+}
+
 /********************************************************************************
  * Motor Homing
  ********************************************************************************/
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
index 5134e97aa..946958a08 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_Blowers.c
@@ -212,108 +212,148 @@ uint32_t HeadBlowersOffGet()
     ReportWithPackageFilter(HeatersFilter,"HeadBlowersOffGet",__FILE__,__LINE__,HeadBlowersEnable,RpError, 0,0);
     return HeadBlowersEnable;
 }
+static int8_t count1 = 0, count2 = 0, count3 = 0, count4 = 0, count5 = 0;
+static int8_t count6 = 0, count7 = 0, count8 = 0, count9 = 0, count10 = 0;
+void setArcHeadAlarms(uint32_t AlarmId, bool value)
+{
+    AlarmHandlingSetAlarm(AlarmId, value);
+    if (value == true)
+    {
+        switch(AlarmId)
+        {
+            /*case EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count9,RpError, 0,0);
+                break;
+            case EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count9,RpError, 0,0);
+                break;
+            case EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count9,RpError, 0,0);
+                break;
+            case EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count9,RpError, 0,0);
+                break;*/
+            case EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count3,RpError, HeadBlowersGetRPM(HEAD_FAN_RIGHT),0);
+                break;
+            case EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count4,RpError, HeadBlowersGetRPM(HEAD_FAN_LEFT),0);
+                break;
+            case EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count5,RpError, PressureSensorGetPressure(HEAD_FAN_RIGHT),0);
+                break;
+            case EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count7,RpError, PressureSensorGetPressure(HEAD_FAN_LEFT),0);
+                break;
+            case EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count6,RpError, PressureSensorGetPressure(HEAD_FAN_RIGHT),0);
+                break;
+            case EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW:
+                ReportWithPackageFilter(HeatersFilter,"ArcHeadAlarms on",__FILE__,AlarmId,count8,RpError, PressureSensorGetPressure(HEAD_FAN_LEFT),0);
+                break;
+        }
+    }
+}
 
 void ArcHeadAlarms(void)
 {
     double currentFlow = 0.0;
-    static int8_t count1 = 0, count2 = 0, count3 = 0, count4 = 0, count5 = 0;
-    static int8_t count6 = 0, count7 = 0, count8 = 0, count9 = 0, count10 = 0;
 
     if (FPGA_Read_limit_Switches(I2C_HEADCARD_COVER_LS_ARC) != LIMIT) {
         if (++count9 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN, true);
         count9 = (count9 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count9);
     } else {
         if (--count9 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_ARC_LID_IS_OPEN, false);
         count9 = (count9 < 0)?(0):(count9);
     }
 
     if (FPGA_Read_limit_Switches(I2C_HEADCARD_COVER_LS_TUNNEL_ARC) != LIMIT) {
         if (++count10 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN, true);
         count10 = (count10 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count10);
     } else {
         if (--count10 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_TUNNEL_LID_IS_OPEN, false);
         count10 = (count10 < 0)?(0):(count10);
     }
 
     if (Head_Fan_Tach[0] == 0x1FFE) {
         if (++count1 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED, true);
         count1 = (count1 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count1);
     } else {
         if (--count1 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_STOPPED, false);
         count1 = (count1 < 0)?(0):(count1);
     }
     if (Head_Fan_Tach[1] == 0x1FFE) {
         if (++count2 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED, true);
         count2 = (count2 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count2);
     } else {
         if (--count2 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_STOPPED, false);
         count2 = (count2 < 0)?(0):(count2);
     }
 
     if (HeadBlowersGetRPM(HEAD_FAN_RIGHT) < 2000) {
         if (++count3 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW, true);
         count3 = (count3 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count3);
     } else {
         if (--count3 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FAN_RPM_TOO_LOW, false);
         count3 = (count3 < 0)?(0):(count3);
     }
     if (HeadBlowersGetRPM(HEAD_FAN_LEFT) < 2000) {
         if (++count4 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW, true);
         count4 = (count4 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count4);
     } else {
         if (--count4 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FAN_RPM_TOO_LOW, false);
         count4 = (count4 < 0)?(0):(count4);
     }
 
     currentFlow = PressureSensorGetPressure(HEAD_FAN_RIGHT);
     if (currentFlow > 5.0) {
         if (++count5 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH, true);
         count5 = (count5 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count5);
     } else {
         if (--count5 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_HIGH, false);
         count5 = (count5 < 0)?(0):(count5);
     }
     if (currentFlow < 1.0) {
         if (++count6 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW, true);
         count6 = (count6 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count6);
     } else {
         if (--count6 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_1_FLOW_TOO_LOW, false);
         count6 = (count6 < 0)?(0):(count6);
     }
 
     currentFlow = PressureSensorGetPressure(HEAD_FAN_LEFT);
     if (currentFlow > 5.0) {
         if (++count7 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH, true);
         count7 = (count7 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count7);
     } else {
         if (--count7 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_HIGH, false);
         count7 = (count7 < 0)?(0):(count7);
     }
     if (currentFlow < 1.0) {
         if (++count8 == ARC_ALARM_LIMIT)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW, true);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW, true);
         count8 = (count8 > ARC_ALARM_LIMIT)?(ARC_ALARM_LIMIT):(count8);
     } else {
         if (--count8 == 0)
-            AlarmHandlingSetAlarm(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW, false);
+            setArcHeadAlarms(EVENT_TYPE__DYEING_HEAD_BLOWER_2_FLOW_TOO_LOW, false);
         count8 = (count8 < 0)?(0):(count8);
     }
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 84013add6..def9c5530 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -1053,7 +1053,7 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
     }
     if (abs(readValue - HeaterPreviousRead[index])>2000)
     {
-        ReportWithPackageFilter(HeatersFilter,"Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index);
+        ReportWithPackageFilter(HeatersFilter,"Temperature Spike AC",__FILE__,index,HeaterPreviousRead[index],RpWarning,readValue, index);
 #ifdef IGNORE_SPIKE
         HeaterPreviousRead[index] = readValue;
 #else
@@ -1345,18 +1345,18 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
             DeActivateHeater(HEATER_TYPE__DryerMainHeater);
             HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerMainHeater,0);
             HeaterRecalculateSharedHeatersParams(HEATER_TYPE__DryerSecondaryHeater,0);
-            if (HeaterSpikeRead[index] == 0)
-            {
-                HeaterSpikeRead[index] = readValue;
-            }
-            else
-            {
-                ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index);
-                HeaterPreviousRead[index] = HeaterSpikeRead[index];
-                HeaterSpikeRead[index] = 0;
-            }
-
         }
+        if (HeaterSpikeRead[index] == 0)
+        {
+            HeaterSpikeRead[index] = readValue;
+        }
+        else
+        {
+            ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index);
+            HeaterPreviousRead[index] = HeaterSpikeRead[index];
+            HeaterSpikeRead[index] = 0;
+        }
+
         return ERROR;
 #endif
     }
@@ -1580,20 +1580,20 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 #ifdef IGNORE_SPIKE
         HeaterPreviousRead[index] = readValue;
 #else
-        //if (readValue > HeaterCmd[index].targettemperatue)
+        if (readValue > HeaterCmd[index].targettemperatue)
         {
             DeActivateHeater(index);
             HeaterRecalculateHeaterParams(index, 0);
-            if (HeaterSpikeRead[index] == 0)
-            {
-                HeaterSpikeRead[index] = readValue;
-            }
-            else
-            {
-                ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index);
-                HeaterPreviousRead[index] = HeaterSpikeRead[index];
-                HeaterSpikeRead[index] = 0;
-            }
+        }
+        if (HeaterSpikeRead[index] == 0)
+        {
+            HeaterSpikeRead[index] = readValue;
+        }
+        else
+        {
+            ReportWithPackageFilter(HeatersFilter,"restoring read Temperature Spike",__FILE__,index,HeaterPreviousRead[index],RpWarning,HeaterSpikeRead[index], index);
+            HeaterPreviousRead[index] = HeaterSpikeRead[index];
+            HeaterSpikeRead[index] = 0;
         }
 #endif
     }
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 367b36e38..a28d00a91 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -250,6 +250,7 @@ JobDescriptionFileBrushStop *FirstBrushStop = NULL;
          DispenserUsedInJob[Dispenser_i] = false;
      }
      n_segments = 0;
+#ifndef LIGHT_COLORS
      if (MotorsCfg[DispenserIdToMotorId[CLEANER_DISPENSER]].hardwaremotortype == DispenserIdToMotorId[CLEANER_DISPENSER])
      {
          DispenserUsedInJob[CLEANER_DISPENSER] = true;
@@ -260,7 +261,7 @@ JobDescriptionFileBrushStop *FirstBrushStop = NULL;
          DispenserUsedInJob[CLEANER_DISPENSER] = false;
          EnableCleaning = false;
      }
-
+#endif
      if (JobTicket->enablelubrication == true)
      {
          //DispenserUsedInJob[LUBRICANT_DISPENSER] = true;
@@ -521,7 +522,20 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
   char IdMessage[100];
   int SegmentPrepareWFCFCounter = 0;
   bool pressureReady = false,endOfPrepareWCF = false;
-
+int BuildIdsJobPrintString(char *dest,char *desc, int info)
+{
+    int len = 0,i;
+    int DispenserSpeed[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
+    if (dest == NULL)
+        return 0;
+    for (i = 0; i<MAX_SYSTEM_DISPENSERS; i++)
+    {
+        if (DispenserUsedInJob[i])
+            DispenserSpeed[i] = CurrentDispenserSpeed[i];
+    }
+    len = usnprintf(dest, 80,"%s %d K %d,C %d,M %d,Y %d,TI %d",desc,(int)info,DispenserSpeed[0],DispenserSpeed[1],DispenserSpeed[2],DispenserSpeed[3],DispenserSpeed[4]);
+  return len;
+}
 bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,double pressure)
 {
     TimerMotors_t HW_Motor_Id = DispenserIdToMotorId[DispenserId];
@@ -616,6 +630,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
              else
                  DispenserReady[i] = true;
          }
+#ifndef LIGHT_COLORS
          pressure = GetDispenserPressure(CLEANER_DISPENSER);
          if (pressure > 0.02)
          {
@@ -625,7 +640,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                  ReportWithPackageFilter(IDSFilter,"IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(pressure*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
              CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
          }
-
+#endif
          if ((NumofReadyDispensers)&&(DispenserBuildTimeCounter%1000 == 0))
          {
              ReportWithPackageFilter(IDSFilter,"IDS_Prepare_Callback",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0);
@@ -737,9 +752,10 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                              }
                          }
                      }//for
-                     usnprintf(IdMessage, 80,"WFCF %d K %d,C %d,M %d,Y %d,TI %d",WFCF,CurrentDispenserSpeed[0],
-                               CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]);
-                     ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, DispenserBuildTimeCounter, RpWarning,   WFCF, 0);
+                     //usnprintf(IdMessage, 80,"WFCF %d K %d,C %d,M %d,Y %d,TI %d",WFCF,CurrentDispenserSpeed[0],
+                     //          CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]);
+                     if (BuildIdsJobPrintString(IdMessage,"WFCF ",WFCF))
+                             ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, DispenserBuildTimeCounter, RpWarning,   WFCF, 0);
 
                  }//if n_dis
              }
@@ -761,6 +777,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
      //start new stage
      if (endOfPrepareWCF == true)
      {
+#ifndef LIGHT_COLORS
          if (CurrentDispenserSpeed[CLEANER_DISPENSER])
          {
              HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
@@ -768,6 +785,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
              CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
              ReportWithPackageFilter(IDSFilter,"IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(pressure*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
          }
+#endif
          SafeRemoveControlCallback(DispenserPrepareControlId, IDS_Prepare_Callback );
          DispenserPrepareControlId = 0xFF;
          ReportWithPackageFilter(IDSFilter,"IDS_Prepare_Callback SafeRemoveControlCallback",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0);
@@ -885,6 +903,7 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
          }
          else
          {
+             DispenserTotalPrepareSteps[i] = 0;
              if (AutoHoming_Config >= AutoHoming_JobEnd_PowerOn_off)
              {
                  if ((HomingActive[i] == false)&&(PrimingActive[i] == false))
@@ -941,11 +960,12 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                  }*/
              }
          }
+#ifndef LIGHT_COLORS
          TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
          MotorSetSpeed((TimerMotors_t)HW_Motor_Id,INITIAL_CLEANER_SPEED ); //set the dispenser to the
          CurrentDispenserSpeed[CLEANER_DISPENSER] = INITIAL_CLEANER_SPEED;
          ReportWithPackageFilter(IDSFilter,"IDS start cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
-
+#endif
 
      }
      DispenserBuildTimeCounter = 0;
@@ -1088,9 +1108,10 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
                      }
                  }
              }//for
-             usnprintf(IdMessage, 80,"Presegment Prepare K %d,C %d,M %d,Y %d,TI %d",CurrentDispenserSpeed[0],
-                       CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]);
-             ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
+             //usnprintf(IdMessage, 80,"Presegment Prepare K %d,C %d,M %d,Y %d,TI %d",CurrentDispenserSpeed[0],
+             //          CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]);
+             if (BuildIdsJobPrintString(IdMessage,"Presegment Prepare ",0))
+                 ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
 
              DispenserBuildTimeCounter = 0;
              //DispenserPrepareControlId = AddControlCallback( IDS_PreSegmentPrepare_Callback, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 );
@@ -1176,8 +1197,10 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
          ReportWithPackageFilter(IDSFilter,"End of Pre-segment Handling",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
          //PreSegmentReady(Module_IDS,ModuleDone);
          SafeRemoveControlCallback(DispenserPreSegmentControlId,IDSPreSegmentStateCallbackRunner);
+#ifndef LIGHT_COLORS
          if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0)
              IDS_Cleaning_Stop_Cleaning_Solution (NULL);
+#endif
          setRapidPressureRead(false);
          //if (JobEndSequence == true)
          //    DistanceToSpoolReady(Module_IDS,ModuleDone);
@@ -1290,9 +1313,10 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
                          //SendJobProgress(0.0, 0, false, IdsMessage);*/
                      }
                  }//for
-                 usnprintf(IdMessage, 80,"Presegment WFCF %d K %d,C %d,M %d,Y %d,TI %d",WFCF,CurrentDispenserSpeed[0],
-                           CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]);
-                 ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, FileBrushStop->index, RpWarning,   lInterSegmentLength, 0);
+                 //usnprintf(IdMessage, 80,"Presegment WFCF %d K %d,C %d,M %d,Y %d,TI %d",WFCF,CurrentDispenserSpeed[0],
+                 //          CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]);
+                 if (BuildIdsJobPrintString(IdMessage,"Presegment WFCF ",WFCF))
+                     ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, __LINE__, FileBrushStop->index, RpWarning,   lInterSegmentLength, 0);
              }
          }
          //startDispensersAtSegmentSpeed*1=WFCFClenerSpray(speed);
@@ -1617,9 +1641,10 @@ void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
             }
         } //for
     }
-    usnprintf(IdMessage, 80,"IDS_StartBrushStop %d/%d K %d,C %d,M %d,Y %d,TI %d",FileBrushStop->index,SegmentNumOfBrushStops,CurrentDispenserSpeed[0],
-              CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]);
-    ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, SegmentNumOfBrushStops, FileBrushStop->index, RpWarning,(int)FileBrushStop->offsetmeters, 0);
+    //usnprintf(IdMessage, 80,"IDS_StartBrushStop %d/%d K %d,C %d,M %d,Y %d,TI %d",FileBrushStop->index,SegmentNumOfBrushStops,CurrentDispenserSpeed[0],
+    //          CurrentDispenserSpeed[1],CurrentDispenserSpeed[2],CurrentDispenserSpeed[3],CurrentDispenserSpeed[4]);
+    if (BuildIdsJobPrintString(IdMessage,"IDS_StartBrushStop ",FileBrushStop->index))
+        ReportWithPackageFilter(IDSFilter,IdMessage, __FILE__, SegmentNumOfBrushStops, FileBrushStop->index, RpWarning,(int)FileBrushStop->offsetmeters, 0);
 
 }
 uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
@@ -1718,8 +1743,10 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 #else
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
 #endif
+#ifndef LIGHT_COLORS
      if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0)
          IDS_Cleaning_Stop_Cleaning_Solution(NULL);
+#endif
      SegmentNumOfBrushStops = Segment->n_brushstops;
      BrushStopTime = Segment->length*1000/(double)SegmentNumOfBrushStops;  //brushstop in meters //brushstop in millisecond
      BrushStopTime = ((BrushStopTime*100)/dyeingspeed);//brushstop in seconds
@@ -1936,10 +1963,13 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          }
 
      }
+#ifndef LIGHT_COLORS
      if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0)
          IDS_Cleaning_Stop_Cleaning_Solution(NULL);
-	IDS_StopLubrication();
+#endif
+     IDS_StopLubrication();
 	Init_CleaningStageCounter();//set the counter before relocating
+	IDS_Cleaning_stop_cleaner_motor();
 	HeadCard_Actuators_Relocate();
 	return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Software Release Notes.txt b/Software/Embedded_SW/Embedded/Software Release Notes.txt
index 736f6e3be..9b3b4a919 100644
--- a/Software/Embedded_SW/Embedded/Software Release Notes.txt
+++ b/Software/Embedded_SW/Embedded/Software Release Notes.txt
@@ -1,3 +1,15 @@
+Embedded SW Release note - Version 1.5.2(3) - Pack 3
+=============================================================
+tweaks to the loading arm reset function (thread load, PPC request)
+main card EEPROM read fixed
+Fans - support for new component (arc head and whs)
+light colors preparation - suppressed
+fix cleaning stop on job abort
+Dancer middle point EEPROM support writing single dancer
+Change spikes handling (fix taking the different temperature after 2 seconds
+change and fix some arc head blowers alarm and logs
+
+
 Embedded SW Release note - Version 1.5.2(1) - Pack 3
 =============================================================
 Rebuild Flash file system on Initialization failure.
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
index 3a0c94e27..b5ebdee17 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
@@ -275,9 +275,8 @@ uint32_t PowerOffHeatersOff(void)
     if (HandleProcessParameters(&ProcessParametersClear,false)!= OK)
     {
         LOG_ERROR (PowerOffMachineState, "Turn Off Heaters  failed");
-        //return ERROR;
     }
-
+    HeadBlowersOff(1);
     PowerOffMachineState++;
 
     return OK;