--- a/master/fsm_slave_scan.c Mon May 03 10:13:25 2010 +0200
+++ b/master/fsm_slave_scan.c Mon May 03 18:07:57 2010 +0200
@@ -190,8 +190,8 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to receive station address datagram for slave %u: ",
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(fsm->slave,
+ "Failed to receive station address datagram: ");
ec_datagram_print_state(datagram);
return;
}
@@ -199,8 +199,7 @@
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to write station address on slave %u: ",
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(fsm->slave, "Failed to write station address: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -230,8 +229,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to receive AL state datagram from slave %u: ",
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive AL state datagram: ");
ec_datagram_print_state(datagram);
return;
}
@@ -239,8 +237,7 @@
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to read AL state of slave %u: ",
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to read AL state: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -249,8 +246,8 @@
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
char state_str[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, state_str, 0);
- EC_WARN("Slave %u has state error bit set (%s)!\n",
- slave->ring_position, state_str);
+ EC_SLAVE_WARN(slave, "Slave has state error bit set (%s)!\n",
+ state_str);
}
// read base data
@@ -278,8 +275,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to receive base data datagram for slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive base data datagram: ");
ec_datagram_print_state(datagram);
return;
}
@@ -287,8 +283,7 @@
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to read base data from slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to read base data: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -299,16 +294,15 @@
slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
if (slave->base_fmmu_count > EC_MAX_FMMUS) {
- EC_WARN("Slave %u has more FMMUs (%u) than the master can"
- " handle (%u).\n", slave->ring_position,
- slave->base_fmmu_count, EC_MAX_FMMUS);
+ EC_SLAVE_WARN(slave, "Slave has more FMMUs (%u) than the master can"
+ " handle (%u).\n", slave->base_fmmu_count, EC_MAX_FMMUS);
slave->base_fmmu_count = EC_MAX_FMMUS;
}
slave->base_sync_count = EC_READ_U8(datagram->data + 5);
if (slave->base_sync_count > EC_MAX_SYNC_MANAGERS) {
- EC_WARN("Slave %u provides more sync managers (%u) than the master can"
- " handle (%u).\n", slave->ring_position,
+ EC_SLAVE_WARN(slave, "Slave provides more sync managers (%u)"
+ " than the master can handle (%u).\n",
slave->base_sync_count, EC_MAX_SYNC_MANAGERS);
slave->base_sync_count = EC_MAX_SYNC_MANAGERS;
}
@@ -353,28 +347,22 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to receive system time datagram for slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive system time datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter == 1) {
slave->has_dc_system_time = 1;
- if (slave->master->debug_level) {
- EC_DBG("Slave %u has the System Time register.\n",
- slave->ring_position);
- }
+ EC_SLAVE_DBG(slave, 1, "Slave has the System Time register.\n");
} else if (datagram->working_counter == 0) {
- if (slave->master->debug_level) {
- EC_DBG("Slave %u has no System Time register; delay "
- "measurement only.\n", slave->ring_position);
- }
+ EC_SLAVE_DBG(slave, 1, "Slave has no System Time register; delay "
+ "measurement only.\n");
} else {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to determine, if system time register is "
- "supported by slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to determine, if system time register is "
+ "supported: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -405,8 +393,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to receive system time datagram for slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive system time datagram: ");
ec_datagram_print_state(datagram);
return;
}
@@ -414,8 +401,7 @@
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to get DC receive times of slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to get DC receive times: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -465,8 +451,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to receive DL status datagram from slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive DL status datagram: ");
ec_datagram_print_state(datagram);
return;
}
@@ -474,17 +459,19 @@
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to read DL status from slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to read DL status: ");
ec_datagram_print_wc_error(datagram);
return;
}
dl_status = EC_READ_U16(datagram->data);
for (i = 0; i < EC_MAX_PORTS; i++) {
- slave->ports[i].link.link_up = dl_status & (1 << (4 + i)) ? 1 : 0;
- slave->ports[i].link.loop_closed = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
- slave->ports[i].link.signal_detected = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+ slave->ports[i].link.link_up =
+ dl_status & (1 << (4 + i)) ? 1 : 0;
+ slave->ports[i].link.loop_closed =
+ dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+ slave->ports[i].link.signal_detected =
+ dl_status & (1 << (9 + i * 2)) ? 1 : 0;
}
// Start fetching SII size
@@ -512,8 +499,7 @@
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to read SII size of slave %u.\n",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to read SII size.\n");
return;
}
@@ -523,9 +509,8 @@
if (cat_type != 0xFFFF) { // not the last category
off_t next_offset = 2UL + fsm->sii_offset + cat_size;
if (next_offset >= EC_MAX_SII_SIZE) {
- EC_WARN("SII size of slave %u exceeds"
- " %u words (0xffff limiter missing?).\n",
- slave->ring_position, EC_MAX_SII_SIZE);
+ EC_SLAVE_WARN(slave, "SII size exceeds %u words"
+ " (0xffff limiter missing?).\n", EC_MAX_SII_SIZE);
// cut off category data...
slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET;
goto alloc_sii;
@@ -541,15 +526,14 @@
alloc_sii:
if (slave->sii_words) {
- EC_WARN("Freeing old SII data on slave %u...\n",
- slave->ring_position);
+ EC_SLAVE_WARN(slave, "Freeing old SII data...\n");
kfree(slave->sii_words);
}
if (!(slave->sii_words =
(uint16_t *) kmalloc(slave->sii_nwords * 2, GFP_KERNEL))) {
- EC_ERR("Failed to allocate %zu words of SII data for slave %u.\n",
- slave->sii_nwords, slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to allocate %zu words of SII data.\n",
+ slave->sii_nwords);
slave->sii_nwords = 0;
slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
@@ -581,8 +565,7 @@
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to fetch SII contents of slave %u.\n",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to fetch SII contents.\n");
return;
}
@@ -644,9 +627,8 @@
}
if (slave->sii_nwords < EC_FIRST_SII_CATEGORY_OFFSET + 1) {
- EC_ERR("Unexpected end of SII data in slave %u:"
- " First category header missing.\n",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Unexpected end of SII data:"
+ " First category header missing.\n");
goto end;
}
@@ -656,9 +638,8 @@
// type and size words must fit
if (cat_word + 2 - slave->sii_words > slave->sii_nwords) {
- EC_ERR("Unexpected end of SII data in slave %u:"
- " Category header incomplete.\n",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Unexpected end of SII data:"
+ " Category header incomplete.\n");
goto end;
}
@@ -667,9 +648,8 @@
cat_word += 2;
if (cat_word + cat_size - slave->sii_words > slave->sii_nwords) {
- EC_WARN("Unexpected end of SII data in slave %u:"
- " Category data incomplete.\n",
- slave->ring_position);
+ EC_SLAVE_WARN(slave, "Unexpected end of SII data:"
+ " Category data incomplete.\n");
goto end;
}
@@ -703,15 +683,14 @@
break;
default:
if (fsm->slave->master->debug_level)
- EC_WARN("Unknown category type 0x%04X in slave %u.\n",
- cat_type, slave->ring_position);
+ EC_SLAVE_WARN(slave, "Unknown category type 0x%04X.\n",
+ cat_type);
}
cat_word += cat_size;
if (cat_word - slave->sii_words >= slave->sii_nwords) {
- EC_WARN("Unexpected end of SII data in slave %u:"
- " Next category header missing.\n",
- slave->ring_position);
+ EC_SLAVE_WARN(slave, "Unexpected end of SII data:"
+ " Next category header missing.\n");
goto end;
}
}
@@ -720,7 +699,7 @@
return;
end:
- EC_ERR("Failed to analyze category data.\n");
+ EC_SLAVE_ERR(slave, "Failed to analyze category data.\n");
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
}
@@ -740,9 +719,7 @@
ec_slave_t *slave = fsm->slave;
// read alias from register
- if (slave->master->debug_level)
- EC_DBG("Reading alias from register of slave %u.\n",
- slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Reading alias from register.\n");
ec_datagram_fprd(datagram, slave->station_address, 0x0012, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
@@ -766,20 +743,17 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to receive get reg alias datagram from slave %u: ",
- fsm->slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive register alias datagram: ");
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
- EC_WARN("Failed to read reg alias of slave %u.\n",
- fsm->slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Failed to read register alias.\n");
} else {
slave->effective_alias = EC_READ_U16(datagram->data);
- if (slave->master->debug_level)
- EC_DBG("Read alias %u from register of slave %u.\n",
- slave->effective_alias, slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Read alias %u from register.\n",
+ slave->effective_alias);
}
if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
ec_fsm_slave_scan_enter_preop(fsm);
@@ -805,8 +779,8 @@
if (slave->master->debug_level) {
char str[EC_STATE_STRING_SIZE];
ec_state_string(current_state, str, 0);
- EC_DBG("Slave %u is not in the state to do mailbox com (%s),"
- " setting to PREOP.\n", slave->ring_position, str);
+ EC_SLAVE_DBG(slave, 0, "Slave is not in the state"
+ " to do mailbox com (%s), setting to PREOP.\n", str);
}
fsm->state = ec_fsm_slave_scan_state_preop;
@@ -814,9 +788,8 @@
ec_fsm_slave_config_start(fsm->fsm_slave_config, slave);
ec_fsm_slave_config_exec(fsm->fsm_slave_config);
} else {
- if (slave->master->debug_level)
- EC_DBG("Reading mailbox syncmanager configuration of slave %u.\n",
- slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Reading mailbox"
+ " sync manager configuration.\n");
/* Scan current sync manager configuration to get configured mailbox
* sizes. */
@@ -862,8 +835,8 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to receive sync manager configuration datagram"
- " from slave %u: ", slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to receive sync manager"
+ " configuration datagram: ");
ec_datagram_print_state(datagram);
return;
}
@@ -871,8 +844,7 @@
if (datagram->working_counter != 1) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_ERR("Failed to read DL status from slave %u: ",
- slave->ring_position);
+ EC_SLAVE_ERR(slave, "Failed to read DL status: ");
ec_datagram_print_wc_error(datagram);
return;
}
@@ -882,15 +854,13 @@
slave->configured_tx_mailbox_offset = EC_READ_U16(datagram->data + 8);
slave->configured_tx_mailbox_size = EC_READ_U16(datagram->data + 10);
- if (slave->master->debug_level) {
- EC_DBG("Mailbox configuration of slave %u:\n", slave->ring_position);
- EC_DBG(" RX offset=0x%04x size=%u\n",
- slave->configured_rx_mailbox_offset,
- slave->configured_rx_mailbox_size);
- EC_DBG(" TX offset=0x%04x size=%u\n",
- slave->configured_tx_mailbox_offset,
- slave->configured_tx_mailbox_size);
- }
+ EC_SLAVE_DBG(slave, 1, "Mailbox configuration:\n");
+ EC_SLAVE_DBG(slave, 1, " RX offset=0x%04x size=%u\n",
+ slave->configured_rx_mailbox_offset,
+ slave->configured_rx_mailbox_size);
+ EC_SLAVE_DBG(slave, 1, " TX offset=0x%04x size=%u\n",
+ slave->configured_tx_mailbox_offset,
+ slave->configured_tx_mailbox_size);
ec_fsm_slave_scan_enter_pdos(fsm);
}
@@ -905,9 +875,7 @@
{
ec_slave_t *slave = fsm->slave;
- if (slave->master->debug_level)
- EC_DBG("Scanning PDO assignment and mapping of slave %u.\n",
- slave->ring_position);
+ EC_SLAVE_DBG(slave, 1, "Scanning PDO assignment and mapping.\n");
fsm->state = ec_fsm_slave_scan_state_pdos;
ec_fsm_pdo_start_reading(fsm->fsm_pdo, slave);
ec_fsm_pdo_exec(fsm->fsm_pdo); // execute immediately