diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index ab1ab77e6..275e7e5b7 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -842,6 +842,16 @@ uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams) { return OK; } + if((ThreadParams->bypassrockers != true)&&(ThreadParams->bypassrockers != false)) + { + ReportWithPackageFilter(ThreadFilter,"incorrect Thread parameters ",__FILE__,__LINE__,(int)ThreadParams->feederp,RpWarning,(int)ThreadParams->bypassrockers,0); + return OK; + } + if ((ThreadParams->feederp>100000)||(ThreadParams->feederi>100000)) + { + ReportWithPackageFilter(ThreadFilter,"incorrect Thread parameters ",__FILE__,__LINE__,(int)ThreadParams->feederp,RpWarning,(int)ThreadParams->bypassrockers,0); + return OK; + } if(ThreadParams->feederp) MotorControlConfig[FEEDER_MOTOR].m_params.Kp = ThreadParams->feederp; if(ThreadParams->feederi) @@ -1168,6 +1178,7 @@ uint32_t ThreadPrepareState(void *JobDetails) MotorControlConfig[Motor_i].m_preError = 0; MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage + HandleJobThreadControlParameters(JobTicket->threadparameters); //OVERRIDES CONFIGURATION PARAMETERS!!! temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001; MotorTiming[Motor_i] = (int)temp_dt; @@ -1278,7 +1289,6 @@ uint32_t ThreadPrepareState(void *JobDetails) } #endif } - HandleJobThreadControlParameters(JobTicket->threadparameters); //OVERRIDES CONFIGURATION PARAMETERS!!! #ifdef TEST_PID_THREAD testDancersControl(); |