--- a/master/fsm_pdo.c Mon May 03 10:13:25 2010 +0200
+++ b/master/fsm_pdo.c Mon May 03 18:07:57 2010 +0200
@@ -213,8 +213,8 @@
if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index)))
continue;
- if (slave->master->debug_level)
- EC_DBG("Reading PDO assignment of SM%u.\n", fsm->sync_index);
+ EC_SLAVE_DBG(slave, 1, "Reading PDO assignment of SM%u.\n",
+ fsm->sync_index);
ec_pdo_list_clear_pdos(&fsm->pdos);
@@ -226,8 +226,7 @@
return;
}
- if (slave->master->debug_level)
- EC_DBG("Reading of PDO configuration finished.\n");
+ EC_SLAVE_DBG(slave, 1, "Reading of PDO configuration finished.\n");
ec_pdo_list_clear_pdos(&fsm->pdos);
fsm->state = ec_fsm_pdo_state_end;
@@ -244,24 +243,22 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read number of assigned PDOs for SM%u"
- " of slave %u.\n", fsm->sync_index, fsm->slave->ring_position);
+ EC_SLAVE_ERR(fsm->slave, "Failed to read number of assigned PDOs"
+ " for SM%u.\n", fsm->sync_index);
ec_fsm_pdo_read_action_next_sync(fsm);
return;
}
if (fsm->request.data_size != sizeof(uint8_t)) {
- EC_ERR("Invalid data size %zu returned when uploading SDO 0x%04X:%02X "
- "from slave %u.\n", fsm->request.data_size,
- fsm->request.index, fsm->request.subindex,
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
+ " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
+ fsm->request.index, fsm->request.subindex);
ec_fsm_pdo_read_action_next_sync(fsm);
return;
}
fsm->pdo_count = EC_READ_U8(fsm->request.data);
- if (fsm->slave->master->debug_level)
- EC_DBG("%u PDOs assigned.\n", fsm->pdo_count);
+ EC_SLAVE_DBG(fsm->slave, 1, "%u PDOs assigned.\n", fsm->pdo_count);
// read first PDO
fsm->pdo_pos = 1;
@@ -306,24 +303,24 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read index of assigned PDO %u from SM%u.\n",
+ EC_SLAVE_ERR(fsm->slave, "Failed to read index of"
+ " assigned PDO %u from SM%u.\n",
fsm->pdo_pos, fsm->sync_index);
ec_fsm_pdo_read_action_next_sync(fsm);
return;
}
if (fsm->request.data_size != sizeof(uint16_t)) {
- EC_ERR("Invalid data size %zu returned when uploading SDO 0x%04X:%02X "
- "from slave %u.\n", fsm->request.data_size,
- fsm->request.index, fsm->request.subindex,
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
+ " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
+ fsm->request.index, fsm->request.subindex);
ec_fsm_pdo_read_action_next_sync(fsm);
return;
}
if (!(fsm->pdo = (ec_pdo_t *)
kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO.\n");
+ EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO.\n");
ec_fsm_pdo_read_action_next_sync(fsm);
return;
}
@@ -332,8 +329,7 @@
fsm->pdo->index = EC_READ_U16(fsm->request.data);
fsm->pdo->sync_index = fsm->sync_index;
- if (fsm->slave->master->debug_level)
- EC_DBG("PDO 0x%04X.\n", fsm->pdo->index);
+ EC_SLAVE_DBG(fsm->slave, 1, "PDO 0x%04X.\n", fsm->pdo->index);
list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
@@ -354,8 +350,8 @@
return;
if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {
- EC_ERR("Failed to read mapped PDO entries for PDO 0x%04X.\n",
- fsm->pdo->index);
+ EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entries"
+ " for PDO 0x%04X.\n", fsm->pdo->index);
ec_fsm_pdo_read_action_next_sync(fsm);
return;
}
@@ -410,22 +406,25 @@
fsm->sync_index++;
for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
- if (!fsm->slave->config) { // slave configuration removed in the meantime
+ if (!fsm->slave->config) {
+ // slave configuration removed in the meantime
fsm->state = ec_fsm_pdo_state_error;
return;
}
if (ec_pdo_list_copy(&fsm->pdos,
- &fsm->slave->config->sync_configs[fsm->sync_index].pdos)) {
+ &fsm->slave->config->sync_configs[fsm->sync_index].pdos))
+ {
fsm->state = ec_fsm_pdo_state_error;
return;
}
if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
if (!list_empty(&fsm->pdos.list))
- EC_WARN("PDOs configured for SM%u, but slave %u does not "
- "provide the sync manager information!\n",
- fsm->sync_index, fsm->slave->ring_position);
+ EC_SLAVE_WARN(fsm->slave, "PDOs configured for SM%u,"
+ " but slave does not provide the"
+ " sync manager information!\n",
+ fsm->sync_index);
continue;
}
@@ -462,10 +461,8 @@
}
if (list_empty(&fsm->slave_pdo.entries)) {
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Reading mapping of PDO 0x%04X.\n",
- fsm->pdo->index);
+ EC_SLAVE_DBG(fsm->slave, 1, "Reading mapping of PDO 0x%04X.\n",
+ fsm->pdo->index);
// pdo mapping is unknown; start loading it
ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,
@@ -491,7 +488,8 @@
return;
if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
- EC_WARN("Failed to read mapped PDO entries for PDO 0x%04X.\n",
+ EC_SLAVE_WARN(fsm->slave,
+ "Failed to read PDO entries for PDO 0x%04X.\n",
fsm->pdo->index);
// check if the mapping must be re-configured
@@ -509,9 +507,8 @@
)
{
if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
- if (fsm->slave->master->debug_level)
- EC_DBG("Mapping of PDO 0x%04X is already configured correctly.\n",
- fsm->pdo->index);
+ EC_SLAVE_DBG(fsm->slave, 1, "Mapping of PDO 0x%04X"
+ " is already configured correctly.\n", fsm->pdo->index);
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
return;
}
@@ -534,7 +531,8 @@
return;
if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
- EC_WARN("Failed to configure mapping of PDO 0x%04X.\n",
+ EC_SLAVE_WARN(fsm->slave,
+ "Failed to configure mapping of PDO 0x%04X.\n",
fsm->pdo->index);
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
@@ -568,27 +566,24 @@
{
// check if assignment has to be re-configured
if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
-
- if (fsm->slave->master->debug_level)
- EC_DBG("PDO assignment for SM%u is already configured "
- "correctly.\n", fsm->sync_index);
-
+ EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment for SM%u"
+ " is already configured correctly.\n", fsm->sync_index);
ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
if (fsm->slave->master->debug_level) {
- EC_DBG("PDO assignment of SM%u differs:\n", fsm->sync_index);
- EC_DBG(""); ec_fsm_pdo_print(fsm);
+ EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment of SM%u differs:\n",
+ fsm->sync_index);
+ EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
}
// PDO assignment has to be changed. Does the slave support this?
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_assign)) {
- EC_WARN("Slave %u does not support assigning PDOs!\n",
- fsm->slave->ring_position);
- EC_WARN(""); ec_fsm_pdo_print(fsm);
+ EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
@@ -604,8 +599,7 @@
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_write(&fsm->request);
- if (fsm->slave->master->debug_level)
- EC_DBG("Setting number of assigned PDOs to zero.\n");
+ EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned PDOs to zero.\n");
fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -624,8 +618,9 @@
return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to clear PDO assignment of SM%u.\n", fsm->sync_index);
- EC_WARN(""); ec_fsm_pdo_print(fsm);
+ EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
+ fsm->sync_index);
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
return;
}
@@ -637,9 +632,7 @@
// find first PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
-
- if (fsm->slave->master->debug_level)
- EC_DBG("No PDOs to assign.\n");
+ EC_SLAVE_DBG(fsm->slave, 1, "No PDOs to assign.\n");
// check for mapping to be altered
ec_fsm_pdo_conf_action_next_sync(fsm);
@@ -665,9 +658,8 @@
0x1C10 + fsm->sync_index, fsm->pdo_pos);
ecrt_sdo_request_write(&fsm->request);
- if (fsm->slave->master->debug_level)
- EC_DBG("Assigning PDO 0x%04X at position %u.\n",
- fsm->pdo->index, fsm->pdo_pos);
+ EC_SLAVE_DBG(fsm->slave, 1, "Assigning PDO 0x%04X at position %u.\n",
+ fsm->pdo->index, fsm->pdo_pos);
fsm->state = ec_fsm_pdo_conf_state_assign_pdo;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -685,9 +677,10 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to assign PDO 0x%04X at position %u of SM%u.\n",
+ EC_SLAVE_WARN(fsm->slave, "Failed to assign PDO 0x%04X at position %u"
+ " of SM%u.\n",
fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
- EC_WARN(""); ec_fsm_pdo_print(fsm);
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
return;
}
@@ -701,8 +694,9 @@
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_write(&fsm->request);
- if (fsm->slave->master->debug_level)
- EC_DBG("Setting number of assigned PDOs to %u.\n", fsm->pdo_pos);
+ EC_SLAVE_DBG(fsm->slave, 1,
+ "Setting number of assigned PDOs to %u.\n",
+ fsm->pdo_pos);
fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -726,9 +720,9 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to set number of assigned PDOs of SM%u.\n",
- fsm->sync_index);
- EC_WARN(""); ec_fsm_pdo_print(fsm);
+ EC_SLAVE_WARN(fsm->slave, "Failed to set number of"
+ " assigned PDOs of SM%u.\n", fsm->sync_index);
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
return;
}
@@ -736,9 +730,8 @@
// PDOs have been configured
ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
- if (fsm->slave->master->debug_level)
- EC_DBG("Successfully configured PDO assignment of SM%u.\n",
- fsm->sync_index);
+ EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured"
+ " PDO assignment of SM%u.\n", fsm->sync_index);
// check if PDO mapping has to be altered
ec_fsm_pdo_conf_action_next_sync(fsm);