2 files changed, 11 insertions, 5 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 5f9c3130b..4ad5336d9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -43,6 +43,7 @@
 #include "modules/thread/thread_ex.h"
 #include "modules/ifs/ifs.h"
 #include "modules/ids/ids_ex.h"
+#include "modules/waste/waste_ex.h"
 #include "modules/Diagnostics/Diagnostics.h"
 #include "Modules/General/MachineStatus.h"
 
@@ -658,7 +659,6 @@ uint32_t MillisecLowLoop(uint32_t tick)
 #ifndef EVALUATION_BOARD
         Read_Buttons_Reg();
 #endif
-        //Ink_Cart_Led();
         ///////////////////////////////////////////////////////////////////
 
 
@@ -766,6 +766,8 @@ uint32_t MillisecLowLoop(uint32_t tick)
             }
             */
         }
+        //call waste state machine
+        Waste_StateMachine_OneSecond_Call();
     }
     if (Tensecond_Tick)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 0f9848ba1..26fba0194 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -170,6 +170,7 @@ void ControlStop(void)
     ControlRestart = false;
     ADCAcquireStop();
 }
+int FPGA_ReInit_Count = 0; ///avoid too many reinitializations of motors as happens when FPGA is corrupted
 uint32_t ControlActivityLed( uint32_t Parameter1)
 {
     static bool flag = false;
@@ -192,11 +193,14 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
                     SendJobProgress(0.0,0,false, "Hardware Failure Error");
                     AbortJob("FPGA Watchdog Error");
                 }
-                ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0);
+                if (FPGA_ReInit_Count++<20)
+                {
+                    ReportWithPackageFilter(FPGAFilter, "FPGA Watchdog Error",__FILE__,__LINE__,0,RpError, 0,0);
 
-                ACTIVITY_GREEN_LED_ON;
-                FPGA_SetMotorsInit();
-                Motor_ReconfigAllMotors();
+                    ACTIVITY_GREEN_LED_ON;
+                    FPGA_SetMotorsInit();
+                    Motor_ReconfigAllMotors();
+                }
             }
         }
 		else