--- a/master/fsm_coe.c Mon May 03 10:13:25 2010 +0200
+++ b/master/fsm_coe.c Mon May 03 18:07:57 2010 +0200
@@ -144,23 +144,21 @@
/*****************************************************************************/
-/**
- Outputs an SDO abort message.
-*/
-
-void ec_canopen_abort_msg(uint32_t abort_code)
+/** Outputs an SDO abort message.
+ */
+void ec_canopen_abort_msg(const ec_slave_t *slave, uint32_t abort_code)
{
const ec_code_msg_t *abort_msg;
for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
if (abort_msg->code == abort_code) {
- EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
+ EC_SLAVE_ERR(slave, "SDO abort message 0x%08X: \"%s\".\n",
abort_msg->code, abort_msg->message);
return;
}
}
- EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
+ EC_SLAVE_ERR(slave, "Unknown SDO abort code 0x%08X.\n", abort_code);
}
/*****************************************************************************/
@@ -265,15 +263,14 @@
return 0;
if (size < 10) {
- EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",
- fsm->slave->ring_position);
+ EC_SLAVE_WARN(fsm->slave, "Received incomplete CoE Emergency"
+ " request:\n");
ec_print_data(data, size);
return 1;
}
- EC_INFO("CoE Emergency Request received from slave %u:\n",
- fsm->slave->ring_position);
- EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",
+ EC_SLAVE_WARN(fsm->slave, "CoE Emergency Request received:\n"
+ "Error code 0x%04X, Error register 0x%02X, data:\n",
EC_READ_U16(data + 2), EC_READ_U8(data + 4));
ec_print_data(data + 5, 5);
return 1;
@@ -294,14 +291,14 @@
uint8_t *data;
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
- EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
fsm->state = ec_fsm_coe_error;
return;
}
if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
- EC_ERR("Slave %u does not support SDO information service!\n",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Slave does not support"
+ " SDO information service!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -339,16 +336,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE dictionary request datagram for"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
+ " request datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE dictionary request failed on slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE dictionary request failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -376,16 +372,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE mailbox check datagram for slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave,"Reception of CoE mailbox check"
+ " datagram failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -395,8 +390,8 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO dictionary list response "
- "on slave %u.\n", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Timeout while waiting for"
+ " SDO dictionary list response.\n");
return;
}
@@ -433,16 +428,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE dictionary response datagram for"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
+ " response datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE dictionary response failed on slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE dictionary response failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -454,7 +448,8 @@
}
if (mbox_prot != 0x03) { // CoE
- EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
+ mbox_prot);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -468,21 +463,21 @@
}
if (rec_size < 3) {
- EC_ERR("Received corrupted SDO dictionary response (size %zu).\n",
- rec_size);
+ EC_SLAVE_ERR(slave, "Received corrupted SDO dictionary response"
+ " (size %zu).\n", rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %u!\n",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "SDO information error response!\n");
if (rec_size < 10) {
- EC_ERR("Incomplete SDO information error response:\n");
+ EC_SLAVE_ERR(slave, "Incomplete SDO information"
+ " error response:\n");
ec_print_data(data, rec_size);
} else {
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
}
fsm->state = ec_fsm_coe_error;
return;
@@ -491,8 +486,8 @@
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
if (fsm->slave->master->debug_level) {
- EC_DBG("Invalid SDO list response at slave %u! Retrying...\n",
- slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Invalid SDO list response!"
+ " Retrying...\n");
ec_print_data(data, rec_size);
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
@@ -502,7 +497,7 @@
}
if (rec_size < 8 || rec_size % 2) {
- EC_ERR("Invalid data size %zu!\n", rec_size);
+ EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
@@ -513,14 +508,12 @@
for (i = 0; i < sdo_count; i++) {
sdo_index = EC_READ_U16(data + 8 + i * 2);
if (!sdo_index) {
- if (slave->master->debug_level)
- EC_WARN("SDO dictionary of slave %u contains index 0x0000.\n",
- slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "SDO dictionary contains index 0x0000.\n");
continue;
}
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for SDO!\n");
+ EC_SLAVE_ERR(slave, "Failed to allocate memory for SDO!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -531,10 +524,12 @@
fragments_left = EC_READ_U16(data + 4);
if (slave->master->debug_level && fragments_left) {
- EC_DBG("SDO list fragments left: %u\n", fragments_left);
- }
-
- if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
+ EC_SLAVE_DBG(slave, 1, "SDO list fragments left: %u\n",
+ fragments_left);
+ }
+
+ if (EC_READ_U8(data + 2) & 0x80 || fragments_left) {
+ // more messages waiting. check again.
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
@@ -584,16 +579,16 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE SDO description request datagram for"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
+ " description request datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE SDO description"
- " request failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
+ " request failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -621,16 +616,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE mailbox check datagram from slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE mailbox check"
- " datagram failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
+ " datagram failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -640,9 +634,9 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO 0x%04x object description "
- "response on slave %u.\n", fsm->sdo->index,
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Timeout while waiting for"
+ " SDO 0x%04x object description response.\n",
+ fsm->sdo->index);
return;
}
@@ -678,16 +672,16 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE SDO description response datagram from"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE SDO description"
+ " response datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE SDO description"
- " response failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
+ " response failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -699,7 +693,8 @@
}
if (mbox_prot != 0x03) { // CoE
- EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
+ mbox_prot);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -713,25 +708,24 @@
}
if (rec_size < 3) {
- EC_ERR("Received corrupted SDO description response (size %zu).\n",
- rec_size);
+ EC_SLAVE_ERR(slave, "Received corrupted SDO description response"
+ " (size %zu).\n", rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %u while"
- " fetching SDO 0x%04X!\n", slave->ring_position,
- sdo->index);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ EC_SLAVE_ERR(slave, "SDO information error response while"
+ " fetching SDO 0x%04X!\n", sdo->index);
+ ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
if (rec_size < 8) {
- EC_ERR("Received corrupted SDO description response (size %zu).\n",
- rec_size);
+ EC_SLAVE_ERR(slave, "Received corrupted SDO"
+ " description response (size %zu).\n", rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -740,9 +734,8 @@
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
EC_READ_U16(data + 6) != sdo->index) { // SDO index
if (fsm->slave->master->debug_level) {
- EC_DBG("Invalid object description response at slave %u while"
- " fetching SDO 0x%04X!\n", slave->ring_position,
- sdo->index);
+ EC_SLAVE_DBG(slave, 1, "Invalid object description response while"
+ " fetching SDO 0x%04X!\n", sdo->index);
ec_print_data(data, rec_size);
}
// check for CoE response again
@@ -753,7 +746,7 @@
}
if (rec_size < 12) {
- EC_ERR("Invalid data size!\n");
+ EC_SLAVE_ERR(slave, "Invalid data size!\n");
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
@@ -765,7 +758,7 @@
name_size = rec_size - 12;
if (name_size) {
if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
- EC_ERR("Failed to allocate SDO name!\n");
+ EC_SLAVE_ERR(slave, "Failed to allocate SDO name!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -775,7 +768,7 @@
}
if (EC_READ_U8(data + 2) & 0x80) {
- EC_ERR("Fragment follows (not implemented)!\n");
+ EC_SLAVE_ERR(slave, "Fragment follows (not implemented)!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -820,16 +813,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE SDO entry request datagram for"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE SDO entry"
+ " request datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE SDO entry request failed on slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE SDO entry request failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -858,16 +850,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
- ": ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE mailbox check"
- " datagram failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
+ " datagram failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -877,9 +868,9 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO entry 0x%04x:%x"
- " description response on slave %u.\n",
- fsm->sdo->index, fsm->subindex, slave->ring_position);
+ EC_SLAVE_ERR(slave, "Timeout while waiting for"
+ " SDO entry 0x%04x:%x description response.\n",
+ fsm->sdo->index, fsm->subindex);
return;
}
@@ -917,16 +908,16 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE SDO description response datagram from"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
+ " description response datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE SDO description"
- " response failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
+ " response failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -938,7 +929,8 @@
}
if (mbox_prot != 0x03) { // CoE
- EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ EC_SLAVE_ERR(slave, "Received mailbox protocol"
+ " 0x%02X as response.\n", mbox_prot);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -952,25 +944,25 @@
}
if (rec_size < 3) {
- EC_ERR("Received corrupted SDO entry description response "
- "(size %zu).\n", rec_size);
+ EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
+ " description response (size %zu).\n", rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %u while"
- " fetching SDO entry 0x%04X:%02X!\n", slave->ring_position,
+ EC_SLAVE_ERR(slave, "SDO information error response while"
+ " fetching SDO entry 0x%04X:%02X!\n",
sdo->index, fsm->subindex);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
if (rec_size < 9) {
- EC_ERR("Received corrupted SDO entry description response "
- "(size %zu).\n", rec_size);
+ EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
+ " description response (size %zu).\n", rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -980,8 +972,8 @@
EC_READ_U16(data + 6) != sdo->index || // SDO index
EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
if (fsm->slave->master->debug_level) {
- EC_DBG("Invalid entry description response at slave %u while"
- " fetching SDO entry 0x%04X:%02X!\n", slave->ring_position,
+ EC_SLAVE_DBG(slave, 1, "Invalid entry description response while"
+ " fetching SDO entry 0x%04X:%02X!\n",
sdo->index, fsm->subindex);
ec_print_data(data, rec_size);
}
@@ -993,7 +985,7 @@
}
if (rec_size < 16) {
- EC_ERR("Invalid data size %zu!\n", rec_size);
+ EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
@@ -1003,7 +995,7 @@
if (!(entry = (ec_sdo_entry_t *)
kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate entry!\n");
+ EC_SLAVE_ERR(slave, "Failed to allocate entry!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1024,7 +1016,7 @@
if (data_size) {
uint8_t *desc;
if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
- EC_ERR("Failed to allocate SDO entry name!\n");
+ EC_SLAVE_ERR(slave, "Failed to allocate SDO entry name!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1104,20 +1096,20 @@
} else {
sprintf(subidxstr, ":%02X", request->subindex);
}
- EC_DBG("Downloading SDO 0x%04X%s to slave %u.\n",
- request->index, subidxstr, slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Downloading SDO 0x%04X%s.\n",
+ request->index, subidxstr);
ec_print_data(request->data, request->data_size);
}
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
- EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
fsm->state = ec_fsm_coe_error;
return;
}
if (slave->configured_rx_mailbox_size <
EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
- EC_ERR("Mailbox too small!\n");
+ EC_SLAVE_ERR(slave, "Mailbox too small!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1146,7 +1138,7 @@
memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
if (slave->master->debug_level) {
- EC_DBG("Expedited download request:\n");
+ EC_SLAVE_DBG(slave, 1, "Expedited download request:\n");
ec_print_data(data, EC_COE_DOWN_REQ_HEADER_SIZE);
}
}
@@ -1193,7 +1185,7 @@
}
if (slave->master->debug_level) {
- EC_DBG("Normal download request:\n");
+ EC_SLAVE_DBG(slave, 1, "Normal download request:\n");
ec_print_data(data, data_size);
}
}
@@ -1221,8 +1213,8 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE download request datagram for"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE download"
+ " request datagram: ");
ec_datagram_print_state(datagram);
return;
}
@@ -1233,30 +1225,26 @@
if (!datagram->working_counter) {
if (diff_ms < fsm->request->response_timeout) {
#if DEBUG_RETRIES
- if (fsm->slave->master->debug_level) {
- EC_DBG("Slave %u did not respond to SDO download request. "
- "Retrying after %u ms...\n",
- slave->ring_position, (u32) diff_ms);
- }
+ EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
+ " SDO download request. Retrying after %u ms...\n",
+ (u32) diff_ms);
#endif
// no response; send request datagram again
return;
}
}
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE download request for SDO 0x%04x:%x failed"
- " with timeout after %u ms on slave %u: ",
- fsm->request->index, fsm->request->subindex, (u32) diff_ms,
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE download request"
+ " for SDO 0x%04x:%x failed with timeout after %u ms: ",
+ fsm->request->index, fsm->request->subindex, (u32) diff_ms);
ec_datagram_print_wc_error(datagram);
return;
}
#if DEBUG_LONG
if (diff_ms > 200) {
- EC_WARN("SDO 0x%04x:%x download took %u ms on slave %u.\n",
- fsm->request->index, fsm->request->subindex, (u32) diff_ms,
- fsm->slave->ring_position);
+ EC_SLAVE_WARN(slave, "SDO 0x%04x:%x download took %u ms.\n",
+ fsm->request->index, fsm->request->subindex, (u32) diff_ms);
}
#endif
@@ -1281,16 +1269,16 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE mailbox check datagram for slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
+ " datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE mailbox check"
- " datagram failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
+ " datagram failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -1300,10 +1288,9 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout after %u ms while waiting for SDO 0x%04x:%x"
- " download response on slave %u.\n", (u32) diff_ms,
- fsm->request->index, fsm->request->subindex,
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Timeout after %u ms while waiting"
+ " for SDO 0x%04x:%x download response.\n", (u32) diff_ms,
+ fsm->request->index, fsm->request->subindex);
return;
}
@@ -1376,7 +1363,7 @@
fsm->remaining -= segment_size;
if (slave->master->debug_level) {
- EC_DBG("Download segment request:\n");
+ EC_SLAVE_DBG(slave, 1, "Download segment request:\n");
ec_print_data(data, data_size);
}
@@ -1403,16 +1390,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE download response datagram from"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE download"
+ " response datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE download response failed on slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -1425,7 +1411,8 @@
if (mbox_prot != 0x03) { // CoE
fsm->state = ec_fsm_coe_error;
- EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
+ mbox_prot);
return;
}
@@ -1438,13 +1425,14 @@
}
if (slave->master->debug_level) {
- EC_DBG("Download response:\n");
+ EC_SLAVE_DBG(slave, 1, "Download response:\n");
ec_print_data(data, rec_size);
}
if (rec_size < 6) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Received data are too small (%zu bytes):\n", rec_size);
+ EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
+ rec_size);
ec_print_data(data, rec_size);
return;
}
@@ -1458,15 +1446,14 @@
} else {
sprintf(subidxstr, ":%02X", request->subindex);
}
- EC_ERR("SDO download 0x%04X%s (%zu bytes) aborted on slave %u.\n",
- request->index, subidxstr, request->data_size,
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
+ request->index, subidxstr, request->data_size);
if (rec_size < 10) {
- EC_ERR("Incomplete abort command:\n");
+ EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
ec_print_data(data, rec_size);
} else {
fsm->request->abort_code = EC_READ_U32(data + 6);
- ec_canopen_abort_msg(fsm->request->abort_code);
+ ec_canopen_abort_msg(slave, fsm->request->abort_code);
}
return;
}
@@ -1476,8 +1463,8 @@
EC_READ_U16(data + 3) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
if (slave->master->debug_level) {
- EC_DBG("Invalid SDO download response at slave %u! Retrying...\n",
- slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
+ " Retrying...\n");
ec_print_data(data, rec_size);
}
// check for CoE response again
@@ -1511,16 +1498,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE mailbox check datagram for slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE mailbox segment check"
- " datagram failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
+ " datagram failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -1530,8 +1516,8 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO download segment response "
- "on slave %u.\n", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Timeout while waiting for SDO download"
+ " segment response.\n");
return;
}
@@ -1568,16 +1554,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE download response datagram from"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
+ " datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE download response failed on slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -1590,7 +1575,8 @@
if (mbox_prot != 0x03) { // CoE
fsm->state = ec_fsm_coe_error;
- EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
+ mbox_prot);
return;
}
@@ -1603,13 +1589,14 @@
}
if (slave->master->debug_level) {
- EC_DBG("Download response:\n");
+ EC_SLAVE_DBG(slave, 1, "Download response:\n");
ec_print_data(data, rec_size);
}
if (rec_size < 6) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Received data are too small (%zu bytes):\n", rec_size);
+ EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
+ rec_size);
ec_print_data(data, rec_size);
return;
}
@@ -1623,15 +1610,14 @@
} else {
sprintf(subidxstr, ":%02X", request->subindex);
}
- EC_ERR("SDO download 0x%04X%s (%zu bytes) aborted on slave %u.\n",
- request->index, subidxstr, request->data_size,
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
+ request->index, subidxstr, request->data_size);
if (rec_size < 10) {
- EC_ERR("Incomplete abort command:\n");
+ EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
ec_print_data(data, rec_size);
} else {
fsm->request->abort_code = EC_READ_U32(data + 6);
- ec_canopen_abort_msg(fsm->request->abort_code);
+ ec_canopen_abort_msg(slave, fsm->request->abort_code);
}
return;
}
@@ -1639,8 +1625,8 @@
if (EC_READ_U16(data) >> 12 != 0x3 ||
((EC_READ_U8(data + 2) >> 5) != 0x01)) { // segment response
if (slave->master->debug_level) {
- EC_DBG("Invalid SDO download response at slave %u! Retrying...\n",
- slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
+ " Retrying...\n");
ec_print_data(data, rec_size);
}
// check for CoE response again
@@ -1651,7 +1637,8 @@
}
if (((EC_READ_U8(data + 2) >> 4) & 0x01) != fsm->toggle) {
- EC_ERR("Invalid toggle received during segmented download:\n");
+ EC_SLAVE_ERR(slave, "Invalid toggle received during"
+ " segmented download:\n");
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
@@ -1679,12 +1666,11 @@
ec_sdo_request_t *request = fsm->request;
uint8_t *data;
- if (master->debug_level)
- EC_DBG("Uploading SDO 0x%04X:%02X from slave %u.\n",
- request->index, request->subindex, slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Uploading SDO 0x%04X:%02X.\n",
+ request->index, request->subindex);
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
- EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1702,7 +1688,7 @@
memset(data + 6, 0x00, 4);
if (master->debug_level) {
- EC_DBG("Upload request:\n");
+ EC_SLAVE_DBG(slave, 1, "Upload request:\n");
ec_print_data(data, 10);
}
@@ -1729,8 +1715,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE upload request for slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
ec_datagram_print_state(datagram);
return;
}
@@ -1741,30 +1726,26 @@
if (!datagram->working_counter) {
if (diff_ms < fsm->request->response_timeout) {
#if DEBUG_RETRIES
- if (fsm->slave->master->debug_level) {
- EC_DBG("Slave %u did not respond to SDO upload request. "
- "Retrying after %u ms...\n",
- slave->ring_position, (u32) diff_ms);
- }
+ EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
+ " SDO upload request. Retrying after %u ms...\n",
+ (u32) diff_ms);
#endif
// no response; send request datagram again
return;
}
}
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE upload request for SDO 0x%04x:%x failed"
- " with timeout after %u ms on slave %u: ",
- fsm->request->index, fsm->request->subindex, (u32) diff_ms,
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE upload request for"
+ " SDO 0x%04x:%x failed with timeout after %u ms: ",
+ fsm->request->index, fsm->request->subindex, (u32) diff_ms);
ec_datagram_print_wc_error(datagram);
return;
}
#if DEBUG_LONG
if (diff_ms > 200) {
- EC_WARN("SDO 0x%04x:%x upload took %u ms on slave %u.\n",
- fsm->request->index, fsm->request->subindex, (u32) diff_ms,
- fsm->slave->ring_position);
+ EC_SLAVE_WARN(slave, "SDO 0x%04x:%x upload took %u ms.\n",
+ fsm->request->index, fsm->request->subindex, (u32) diff_ms);
}
#endif
@@ -1791,16 +1772,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE mailbox check datagram from slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE mailbox check"
- " datagram failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
+ " datagram failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -1810,10 +1790,9 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout after %u ms while waiting for SDO 0x%04x:%x"
- " upload response on slave %u.\n", (u32) diff_ms,
- fsm->request->index, fsm->request->subindex,
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Timeout after %u ms while waiting for"
+ " SDO 0x%04x:%x upload response.\n", (u32) diff_ms,
+ fsm->request->index, fsm->request->subindex);
return;
}
@@ -1849,7 +1828,7 @@
memset(data + 3, 0x00, 7);
if (fsm->slave->master->debug_level) {
- EC_DBG("Upload segment request:\n");
+ EC_SLAVE_DBG(fsm->slave, 1, "Upload segment request:\n");
ec_print_data(data, 10);
}
}
@@ -1877,16 +1856,15 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE upload response datagram for"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
+ " datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE upload response failed on slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -1898,13 +1876,14 @@
}
if (master->debug_level) {
- EC_DBG("Upload response:\n");
+ EC_SLAVE_DBG(slave, 1, "Upload response:\n");
ec_print_data(data, rec_size);
}
if (mbox_prot != 0x03) { // CoE
fsm->state = ec_fsm_coe_error;
- EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"
+ " as response.\n", mbox_prot);
return;
}
@@ -1918,20 +1897,21 @@
if (rec_size < 6) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Received currupted SDO upload response (%zu bytes)!\n", rec_size);
+ EC_SLAVE_ERR(slave, "Received currupted SDO upload response"
+ " (%zu bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
}
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8(data + 2) >> 5 == 0x4) { // abort SDO transfer request
- EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
- request->index, request->subindex, slave->ring_position);
+ EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
+ request->index, request->subindex);
if (rec_size >= 10) {
request->abort_code = EC_READ_U32(data + 6);
- ec_canopen_abort_msg(request->abort_code);
+ ec_canopen_abort_msg(slave, request->abort_code);
} else {
- EC_ERR("No abort message.\n");
+ EC_SLAVE_ERR(slave, "No abort message.\n");
}
fsm->state = ec_fsm_coe_error;
return;
@@ -1939,9 +1919,9 @@
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response
- EC_ERR("Received unknown response while uploading SDO 0x%04X:%02X"
- " from slave %u.\n", request->index, request->subindex,
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Received unknown response while"
+ " uploading SDO 0x%04X:%02X.\n",
+ request->index, request->subindex);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
@@ -1951,10 +1931,9 @@
rec_subindex = EC_READ_U8(data + 5);
if (rec_index != request->index || rec_subindex != request->subindex) {
- EC_ERR("Received upload response for wrong SDO (0x%04X:%02X,"
- " requested: 0x%04X:%02X) from slave %u.\n",
- rec_index, rec_subindex, request->index, request->subindex,
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Received upload response for wrong SDO"
+ " (0x%04X:%02X, requested: 0x%04X:%02X).\n",
+ rec_index, rec_subindex, request->index, request->subindex);
ec_print_data(data, rec_size);
// check for CoE response again
@@ -1977,7 +1956,7 @@
if (rec_size < 6 + fsm->complete_size) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Received corrupted SDO expedited upload"
+ EC_SLAVE_ERR(slave, "Received corrupted SDO expedited upload"
" response (only %zu bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
@@ -1990,7 +1969,7 @@
} else { // normal
if (rec_size < 10) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Received currupted SDO normal upload"
+ EC_SLAVE_ERR(slave, "Received currupted SDO normal upload"
" response (only %zu bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
@@ -2001,7 +1980,7 @@
if (!fsm->complete_size) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("No complete size supplied!\n");
+ EC_SLAVE_ERR(slave, "No complete size supplied!\n");
ec_print_data(data, rec_size);
return;
}
@@ -2019,10 +1998,8 @@
fsm->toggle = 0;
if (data_size < fsm->complete_size) {
- if (master->debug_level)
- EC_DBG("SDO data incomplete (%zu / %u). Segmenting...\n",
- data_size, fsm->complete_size);
-
+ EC_SLAVE_DBG(slave, 1, "SDO data incomplete (%zu / %u)."
+ " Segmenting...\n", data_size, fsm->complete_size);
ec_fsm_coe_up_prepare_segment_request(fsm);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_request;
@@ -2031,7 +2008,7 @@
}
if (master->debug_level) {
- EC_DBG("Uploaded data:\n");
+ EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
ec_print_data(request->data, request->data_size);
}
@@ -2055,16 +2032,16 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE upload segment request datagram for"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
+ " request datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE upload segment"
- " request failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
+ " request failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -2092,16 +2069,16 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE mailbox check datagram for slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
+ " datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE mailbox check"
- " datagram failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
+ " failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -2111,8 +2088,8 @@
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while waiting for SDO upload segment response "
- "on slave %u.\n", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Timeout while waiting for SDO upload"
+ " segment response.\n");
return;
}
@@ -2149,16 +2126,16 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE upload segment response datagram for"
- " slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
+ " response datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE upload segment"
- " response failed on slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
+ " response failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -2170,12 +2147,13 @@
}
if (master->debug_level) {
- EC_DBG("Upload segment response:\n");
+ EC_SLAVE_DBG(slave, 1, "Upload segment response:\n");
ec_print_data(data, rec_size);
}
if (mbox_prot != 0x03) { // CoE
- EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
+ mbox_prot);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2189,7 +2167,8 @@
}
if (rec_size < 10) {
- EC_ERR("Received currupted SDO upload segment response!\n");
+ EC_SLAVE_ERR(slave, "Received currupted SDO upload"
+ " segment response!\n");
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
@@ -2197,10 +2176,10 @@
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
- EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
- request->index, request->subindex, slave->ring_position);
+ EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
+ request->index, request->subindex);
request->abort_code = EC_READ_U32(data + 6);
- ec_canopen_abort_msg(request->abort_code);
+ ec_canopen_abort_msg(slave, request->abort_code);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2208,8 +2187,7 @@
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
if (fsm->slave->master->debug_level) {
- EC_DBG("Invalid SDO upload segment response at slave %u!\n",
- slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Invalid SDO upload segment response!\n");
ec_print_data(data, rec_size);
}
// check for CoE response again
@@ -2227,9 +2205,9 @@
}
if (request->data_size + data_size > fsm->complete_size) {
- EC_ERR("SDO upload 0x%04X:%02X failed on slave %u: Fragment"
+ EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X failed: Fragment"
" exceeding complete size!\n",
- request->index, request->subindex, slave->ring_position);
+ request->index, request->subindex);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2247,14 +2225,14 @@
}
if (request->data_size != fsm->complete_size) {
- EC_WARN("SDO upload 0x%04X:%02X on slave %u: Assembled data"
+ EC_SLAVE_WARN(slave, "SDO upload 0x%04X:%02X: Assembled data"
" size (%zu) does not match complete size (%u)!\n",
- request->index, request->subindex, slave->ring_position,
+ request->index, request->subindex,
request->data_size, fsm->complete_size);
}
if (master->debug_level) {
- EC_DBG("Uploaded data:\n");
+ EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
ec_print_data(request->data, request->data_size);
}