--- a/master/fsm_pdo_entry.c Mon May 03 10:13:25 2010 +0200
+++ b/master/fsm_pdo_entry.c Mon May 03 18:07:57 2010 +0200
@@ -131,8 +131,9 @@
fsm->cur_pdo = cur_pdo;
if (fsm->slave->master->debug_level) {
- EC_DBG("Changing mapping of PDO 0x%04X.\n", pdo->index);
- EC_DBG(""); ec_fsm_pdo_entry_print(fsm);
+ EC_SLAVE_DBG(slave, 1, "Changing mapping of PDO 0x%04X.\n",
+ pdo->index);
+ EC_SLAVE_DBG(slave, 1, ""); ec_fsm_pdo_entry_print(fsm);
}
fsm->state = ec_fsm_pdo_entry_conf_state_start;
@@ -209,13 +210,15 @@
return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read number of mapped PDO entries.\n");
+ EC_SLAVE_ERR(fsm->slave,
+ "Failed to read number of mapped PDO entries.\n");
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
if (fsm->request.data_size != sizeof(uint8_t)) {
- EC_ERR("Invalid data size %zu at uploading SDO 0x%04X:%02X.\n",
+ EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu at uploading"
+ " SDO 0x%04X:%02X.\n",
fsm->request.data_size, fsm->request.index,
fsm->request.subindex);
fsm->state = ec_fsm_pdo_entry_state_error;
@@ -224,8 +227,7 @@
fsm->entry_count = EC_READ_U8(fsm->request.data);
- if (fsm->slave->master->debug_level)
- EC_DBG("%u PDO entries mapped.\n", fsm->entry_count);
+ EC_SLAVE_DBG(fsm->slave, 1, "%u PDO entries mapped.\n", fsm->entry_count);
// read first PDO entry
fsm->entry_pos = 1;
@@ -264,13 +266,14 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read mapped PDO entry.\n");
+ EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entry.\n");
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
if (fsm->request.data_size != sizeof(uint32_t)) {
- EC_ERR("Invalid data size %zu at uploading SDO 0x%04X:%02X.\n",
+ EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu at"
+ " uploading SDO 0x%04X:%02X.\n",
fsm->request.data_size, fsm->request.index,
fsm->request.subindex);
fsm->state = ec_fsm_pdo_entry_state_error;
@@ -282,7 +285,7 @@
if (!(pdo_entry = (ec_pdo_entry_t *)
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO entry.\n");
+ EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO entry.\n");
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -301,12 +304,11 @@
}
}
- if (fsm->slave->master->debug_level) {
- EC_DBG("PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
- pdo_entry->index, pdo_entry->subindex,
- pdo_entry->bit_length,
- pdo_entry->name ? pdo_entry->name : "???");
- }
+ EC_SLAVE_DBG(fsm->slave, 1,
+ "PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
+ pdo_entry->index, pdo_entry->subindex,
+ pdo_entry->bit_length,
+ pdo_entry->name ? pdo_entry->name : "???");
list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
@@ -330,9 +332,9 @@
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
- EC_WARN("Slave %u does not support changing the PDO mapping!\n",
- fsm->slave->ring_position);
- EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
+ EC_SLAVE_WARN(fsm->slave, "Slave does not support"
+ " changing the PDO mapping!\n");
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -348,8 +350,7 @@
ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
ecrt_sdo_request_write(&fsm->request);
- if (fsm->slave->master->debug_level)
- EC_DBG("Setting entry count to zero.\n");
+ EC_SLAVE_DBG(fsm->slave, 1, "Setting entry count to zero.\n");
fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -383,8 +384,8 @@
return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to clear PDO mapping.\n");
- EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
+ EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO mapping.\n");
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -393,8 +394,7 @@
if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
fsm, &fsm->source_pdo->entries))) {
- if (fsm->slave->master->debug_level)
- EC_DBG("No entries to map.\n");
+ EC_SLAVE_DBG(fsm->slave, 1, "No entries to map.\n");
fsm->state = ec_fsm_pdo_entry_state_end; // finished
return;
@@ -415,10 +415,10 @@
{
uint32_t value;
- if (fsm->slave->master->debug_level)
- EC_DBG("Mapping PDO entry 0x%04X:%02X (%u bit) at position %u.\n",
- fsm->entry->index, fsm->entry->subindex,
- fsm->entry->bit_length, fsm->entry_pos);
+ EC_SLAVE_DBG(fsm->slave, 1, "Mapping PDO entry 0x%04X:%02X (%u bit)"
+ " at position %u.\n",
+ fsm->entry->index, fsm->entry->subindex,
+ fsm->entry->bit_length, fsm->entry_pos);
value = fsm->entry->index << 16
| fsm->entry->subindex << 8 | fsm->entry->bit_length;
@@ -443,10 +443,11 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to map PDO entry 0x%04X:%02X (%u bit) to "
- "position %u.\n", fsm->entry->index, fsm->entry->subindex,
+ EC_SLAVE_WARN(fsm->slave, "Failed to map PDO entry"
+ " 0x%04X:%02X (%u bit) to position %u.\n",
+ fsm->entry->index, fsm->entry->subindex,
fsm->entry->bit_length, fsm->entry_pos);
- EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -461,8 +462,8 @@
ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
ecrt_sdo_request_write(&fsm->request);
- if (fsm->slave->master->debug_level)
- EC_DBG("Setting number of PDO entries to %u.\n", fsm->entry_pos);
+ EC_SLAVE_DBG(fsm->slave, 1, "Setting number of PDO entries to %u.\n",
+ fsm->entry_pos);
fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -486,15 +487,14 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to set number of entries.\n");
- EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
- fsm->state = ec_fsm_pdo_entry_state_error;
- return;
- }
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Successfully configured mapping for PDO 0x%04X.\n",
- fsm->source_pdo->index);
+ EC_SLAVE_WARN(fsm->slave, "Failed to set number of entries.\n");
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured"
+ " mapping for PDO 0x%04X.\n", fsm->source_pdo->index);
fsm->state = ec_fsm_pdo_entry_state_end; // finished
}