From 6cac716122a74352c306e55209c4f0a42077436d Mon Sep 17 00:00:00 2001 From: Florian Pose Date: Thu, 23 Jun 2022 10:31:41 +0200 Subject: [PATCH] Applied 0007-replace-fprintf-calls-with-EC_PRINT_ERR.patch --- lib/common.c | 8 +++--- lib/domain.c | 10 +++---- lib/ioctl.h | 10 ++++++- lib/master.c | 70 +++++++++++++++++++++++----------------------- lib/reg_request.c | 8 +++--- lib/sdo_request.c | 14 +++++----- lib/slave_config.c | 60 +++++++++++++++++++-------------------- lib/voe_handler.c | 16 +++++------ 8 files changed, 102 insertions(+), 94 deletions(-) diff --git a/lib/common.c b/lib/common.c index a70f3559..40854f6b 100644 --- a/lib/common.c +++ b/lib/common.c @@ -77,7 +77,7 @@ ec_master_t *ecrt_open_master(unsigned int master_index) master = malloc(sizeof(ec_master_t)); if (!master) { - fprintf(stderr, "Failed to allocate memory.\n"); + EC_PRINT_ERR("Failed to allocate memory.\n"); return 0; } @@ -100,20 +100,20 @@ ec_master_t *ecrt_open_master(unsigned int master_index) master->fd = open(path, O_RDWR); #endif if (EC_IOCTL_IS_ERROR(master->fd)) { - fprintf(stderr, "Failed to open %s: %s\n", path, + EC_PRINT_ERR("Failed to open %s: %s\n", path, strerror(EC_IOCTL_ERRNO(master->fd))); goto out_clear; } ret = ioctl(master->fd, EC_IOCTL_MODULE, &module_data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get module information from %s: %s\n", + EC_PRINT_ERR("Failed to get module information from %s: %s\n", path, strerror(EC_IOCTL_ERRNO(ret))); goto out_clear; } if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) { - fprintf(stderr, "ioctl() version magic is differing:" + EC_PRINT_ERR("ioctl() version magic is differing:" " %s: %u, libethercat: %u.\n", path, module_data.ioctl_version_magic, EC_IOCTL_VERSION_MAGIC); diff --git a/lib/domain.c b/lib/domain.c index 1ee838b8..86548f29 100644 --- a/lib/domain.c +++ b/lib/domain.c @@ -82,7 +82,7 @@ size_t ecrt_domain_size(const ec_domain_t *domain) ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_SIZE, domain->index); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get domain size: %s\n", + EC_PRINT_ERR("Failed to get domain size: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } @@ -99,7 +99,7 @@ uint8_t *ecrt_domain_data(ec_domain_t *domain) offset = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_OFFSET, domain->index); if (EC_IOCTL_IS_ERROR(offset)) { - fprintf(stderr, "Failed to get domain offset: %s\n", + EC_PRINT_ERR("Failed to get domain offset: %s\n", strerror(EC_IOCTL_ERRNO(offset))); return NULL; } @@ -118,7 +118,7 @@ void ecrt_domain_process(ec_domain_t *domain) ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS, domain->index); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to process domain: %s\n", + EC_PRINT_ERR("Failed to process domain: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -131,7 +131,7 @@ void ecrt_domain_queue(ec_domain_t *domain) ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE, domain->index); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to queue domain: %s\n", + EC_PRINT_ERR("Failed to queue domain: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -148,7 +148,7 @@ void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state) ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get domain state: %s\n", + EC_PRINT_ERR("Failed to get domain state: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } diff --git a/lib/ioctl.h b/lib/ioctl.h index c79a9a26..7f387e4a 100644 --- a/lib/ioctl.h +++ b/lib/ioctl.h @@ -53,6 +53,11 @@ #define EC_IOCTL_IS_ERROR(X) ((X) < 0) #define EC_IOCTL_ERRNO(X) (-(X)) +/* print errors to syslog */ +#define KERN_ERR "<3>" +#define EC_PRINT_ERR(fmt, args...) \ + rt_printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args) + #else #define ioctl ioctl @@ -61,6 +66,10 @@ #define EC_IOCTL_IS_ERROR(X) ((X) == -1) #define EC_IOCTL_ERRNO(X) (errno) +/* print errors to stderr */ +#define EC_PRINT_ERR(fmt, args...) \ + fprintf(stderr, fmt, ##args) + #include #endif @@ -70,4 +79,3 @@ #endif /* __EC_LIB_IOCTL_H__ */ /*****************************************************************************/ - diff --git a/lib/master.c b/lib/master.c index 81d100db..b1b0abda 100644 --- a/lib/master.c +++ b/lib/master.c @@ -44,7 +44,7 @@ int ecrt_master_reserve(ec_master_t *master) { int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to reserve master: %s\n", + EC_PRINT_ERR("Failed to reserve master: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -128,13 +128,13 @@ ec_domain_t *ecrt_master_create_domain(ec_master_t *master) domain = malloc(sizeof(ec_domain_t)); if (!domain) { - fprintf(stderr, "Failed to allocate memory.\n"); + EC_PRINT_ERR("Failed to allocate memory.\n"); return 0; } index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL); if (EC_IOCTL_IS_ERROR(index)) { - fprintf(stderr, "Failed to create domain: %s\n", + EC_PRINT_ERR("Failed to create domain: %s\n", strerror(EC_IOCTL_ERRNO(index))); free(domain); return 0; @@ -177,7 +177,7 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, sc = malloc(sizeof(ec_slave_config_t)); if (!sc) { - fprintf(stderr, "Failed to allocate memory.\n"); + EC_PRINT_ERR("Failed to allocate memory.\n"); return 0; } @@ -188,7 +188,7 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to create slave config: %s\n", + EC_PRINT_ERR("Failed to create slave config: %s\n", strerror(EC_IOCTL_ERRNO(ret))); free(sc); return 0; @@ -225,7 +225,7 @@ int ecrt_master_select_reference_clock(ec_master_t *master, ret = ioctl(master->fd, EC_IOCTL_SELECT_REF_CLOCK, config_index); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to select reference clock: %s\n", + EC_PRINT_ERR("Failed to select reference clock: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -242,7 +242,7 @@ int ecrt_master(ec_master_t *master, ec_master_info_t *master_info) ret = ioctl(master->fd, EC_IOCTL_MASTER, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get master info: %s\n", + EC_PRINT_ERR("Failed to get master info: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -266,7 +266,7 @@ int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position, ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get slave info: %s\n", + EC_PRINT_ERR("Failed to get slave info: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -316,7 +316,7 @@ int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position, ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get sync manager information: %s\n", + EC_PRINT_ERR("Failed to get sync manager information: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -350,7 +350,7 @@ int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position, ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get pdo information: %s\n", + EC_PRINT_ERR("Failed to get pdo information: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -382,7 +382,7 @@ int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position, ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get pdo entry information: %s\n", + EC_PRINT_ERR("Failed to get pdo entry information: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -415,7 +415,7 @@ int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position, if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) { *abort_code = download.abort_code; } - fprintf(stderr, "Failed to execute SDO download: %s\n", + EC_PRINT_ERR("Failed to execute SDO download: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -444,7 +444,7 @@ int ecrt_master_sdo_download_complete(ec_master_t *master, if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) { *abort_code = download.abort_code; } - fprintf(stderr, "Failed to execute SDO download: %s\n", + EC_PRINT_ERR("Failed to execute SDO download: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -472,7 +472,7 @@ int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position, if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) { *abort_code = upload.abort_code; } - fprintf(stderr, "Failed to execute SDO upload: %s\n", + EC_PRINT_ERR("Failed to execute SDO upload: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -501,7 +501,7 @@ int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position, if (EC_IOCTL_ERRNO(ret) == EIO && error_code) { *error_code = io.error_code; } - fprintf(stderr, "Failed to write IDN: %s\n", + EC_PRINT_ERR("Failed to write IDN: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -529,7 +529,7 @@ int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position, if (EC_IOCTL_ERRNO(ret) == EIO && error_code) { *error_code = io.error_code; } - fprintf(stderr, "Failed to read IDN: %s\n", + EC_PRINT_ERR("Failed to read IDN: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -547,7 +547,7 @@ int ecrt_master_setup_domain_memory(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_SETUP_DOMAIN_MEMORY, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to activate master: %s\n", + EC_PRINT_ERR("Failed to activate master: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -565,7 +565,7 @@ int ecrt_master_setup_domain_memory(ec_master_t *master) master->process_data = mmap(0, master->process_data_size, PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0); if (master->process_data == MAP_FAILED) { - fprintf(stderr, "Failed to map process data: %s\n", + EC_PRINT_ERR("Failed to map process data: %s\n", strerror(errno)); master->process_data = NULL; master->process_data_size = 0; @@ -589,7 +589,7 @@ int ecrt_master_activate(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_ACTIVATE, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to activate master: %s\n", + EC_PRINT_ERR("Failed to activate master: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -607,7 +607,7 @@ int ecrt_master_activate(ec_master_t *master) master->process_data = mmap(0, master->process_data_size, PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0); if (master->process_data == MAP_FAILED) { - fprintf(stderr, "Failed to map process data: %s\n", + EC_PRINT_ERR("Failed to map process data: %s\n", strerror(errno)); master->process_data = NULL; master->process_data_size = 0; @@ -630,7 +630,7 @@ void ecrt_master_deactivate_slaves(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE_SLAVES, NULL); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to deactivate slaves: %s\n", + EC_PRINT_ERR("Failed to deactivate slaves: %s\n", strerror(EC_IOCTL_IS_ERROR(ret))); return; } @@ -644,7 +644,7 @@ void ecrt_master_deactivate(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to deactivate master: %s\n", + EC_PRINT_ERR("Failed to deactivate master: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return; } @@ -661,7 +661,7 @@ int ecrt_master_set_send_interval(ec_master_t *master, ret = ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, &send_interval_us); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to set send interval: %s\n", + EC_PRINT_ERR("Failed to set send interval: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -678,7 +678,7 @@ size_t ecrt_master_send(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_SEND, &sent_bytes); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to send: %s\n", + EC_PRINT_ERR("Failed to send: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } @@ -693,7 +693,7 @@ void ecrt_master_receive(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_RECEIVE, NULL); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to receive: %s\n", + EC_PRINT_ERR("Failed to receive: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -706,7 +706,7 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state) ret = ioctl(master->fd, EC_IOCTL_MASTER_STATE, state); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get master state: %s\n", + EC_PRINT_ERR("Failed to get master state: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -724,7 +724,7 @@ int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx, ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get link state: %s\n", + EC_PRINT_ERR("Failed to get link state: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -743,7 +743,7 @@ void ecrt_master_application_time(ec_master_t *master, uint64_t app_time) ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &time); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to set application time: %s\n", + EC_PRINT_ERR("Failed to set application time: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -756,7 +756,7 @@ void ecrt_master_sync_reference_clock(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to sync reference clock: %s\n", + EC_PRINT_ERR("Failed to sync reference clock: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -773,7 +773,7 @@ void ecrt_master_sync_reference_clock_to(ec_master_t *master, ret = ioctl(master->fd, EC_IOCTL_SYNC_REF_TO, &time); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to sync reference clock: %s\n", + EC_PRINT_ERR("Failed to sync reference clock: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -786,7 +786,7 @@ void ecrt_master_sync_slave_clocks(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to sync slave clocks: %s\n", + EC_PRINT_ERR("Failed to sync slave clocks: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -802,7 +802,7 @@ int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time) ret = EC_IOCTL_ERRNO(ret); if (ret != EIO && ret != ENXIO && ret != EAGAIN) { // do not log if no refclk or no refclk time yet - fprintf(stderr, "Failed to get reference clock time: %s\n", + EC_PRINT_ERR("Failed to get reference clock time: %s\n", strerror(ret)); } return -ret; @@ -819,7 +819,7 @@ void ecrt_master_sync_monitor_queue(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to queue sync monitor datagram: %s\n", + EC_PRINT_ERR("Failed to queue sync monitor datagram: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -834,7 +834,7 @@ uint32_t ecrt_master_sync_monitor_process(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff); if (EC_IOCTL_IS_ERROR(ret)) { time_diff = 0xffffffff; - fprintf(stderr, "Failed to process sync monitor datagram: %s\n", + EC_PRINT_ERR("Failed to process sync monitor datagram: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } @@ -849,7 +849,7 @@ void ecrt_master_reset(ec_master_t *master) ret = ioctl(master->fd, EC_IOCTL_RESET, NULL); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to reset master: %s\n", + EC_PRINT_ERR("Failed to reset master: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } diff --git a/lib/reg_request.c b/lib/reg_request.c index 8fa72243..2eb6bca5 100644 --- a/lib/reg_request.c +++ b/lib/reg_request.c @@ -71,7 +71,7 @@ ec_request_state_t ecrt_reg_request_state(ec_reg_request_t *reg) ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_STATE, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get register request state: %s\n", + EC_PRINT_ERR("Failed to get register request state: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return EC_REQUEST_ERROR; } @@ -84,7 +84,7 @@ ec_request_state_t ecrt_reg_request_state(ec_reg_request_t *reg) ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_DATA, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get register data: %s\n", + EC_PRINT_ERR("Failed to get register data: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return EC_REQUEST_ERROR; } @@ -109,7 +109,7 @@ void ecrt_reg_request_write(ec_reg_request_t *reg, uint16_t address, ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_WRITE, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to command an register write operation: %s\n", + EC_PRINT_ERR("Failed to command an register write operation: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -129,7 +129,7 @@ void ecrt_reg_request_read(ec_reg_request_t *reg, uint16_t address, ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_READ, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to command an register read operation: %s\n", + EC_PRINT_ERR("Failed to command an register read operation: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } diff --git a/lib/sdo_request.c b/lib/sdo_request.c index ad1abbe2..1117cbb4 100644 --- a/lib/sdo_request.c +++ b/lib/sdo_request.c @@ -67,7 +67,7 @@ void ecrt_sdo_request_index(ec_sdo_request_t *req, uint16_t index, ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_INDEX, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to set SDO request index/subindex: %s\n", + EC_PRINT_ERR("Failed to set SDO request index/subindex: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -85,7 +85,7 @@ void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout) ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to set SDO request timeout: %s\n", + EC_PRINT_ERR("Failed to set SDO request timeout: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -116,14 +116,14 @@ ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req) ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get SDO request state: %s\n", + EC_PRINT_ERR("Failed to get SDO request state: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return EC_REQUEST_ERROR; } if (data.size) { // new data waiting to be copied if (req->mem_size < data.size) { - fprintf(stderr, "Received %zu bytes do not fit info SDO data" + EC_PRINT_ERR("Received %zu bytes do not fit info SDO data" " memory (%zu bytes)!\n", data.size, req->mem_size); return EC_REQUEST_ERROR; } @@ -133,7 +133,7 @@ ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req) ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_DATA, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get SDO data: %s\n", + EC_PRINT_ERR("Failed to get SDO data: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return EC_REQUEST_ERROR; } @@ -155,7 +155,7 @@ void ecrt_sdo_request_read(ec_sdo_request_t *req) ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to command an SDO read operation : %s\n", + EC_PRINT_ERR("Failed to command an SDO read operation : %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -174,7 +174,7 @@ void ecrt_sdo_request_write(ec_sdo_request_t *req) ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to command an SDO write operation : %s\n", + EC_PRINT_ERR("Failed to command an SDO write operation : %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } diff --git a/lib/slave_config.c b/lib/slave_config.c index 7a3bc96d..74b2e9f9 100644 --- a/lib/slave_config.c +++ b/lib/slave_config.c @@ -94,7 +94,7 @@ int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index, ret = ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to config sync manager: %s\n", + EC_PRINT_ERR("Failed to config sync manager: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -117,7 +117,7 @@ void ecrt_slave_config_watchdog(ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to config watchdog: %s\n", + EC_PRINT_ERR("Failed to config watchdog: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -134,7 +134,7 @@ void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc, data.allow_overlapping_pdos = allow_overlapping_pdos; if (ioctl(sc->master->fd, EC_IOCTL_SC_OVERLAPPING_IO, &data) == -1) { - fprintf(stderr, "Failed to config overlapping PDOs: %s\n", + EC_PRINT_ERR("Failed to config overlapping PDOs: %s\n", strerror(errno)); } } @@ -153,7 +153,7 @@ int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to add PDO: %s\n", + EC_PRINT_ERR("Failed to add PDO: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -174,7 +174,7 @@ void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to clear PDOs: %s\n", + EC_PRINT_ERR("Failed to clear PDOs: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -196,7 +196,7 @@ int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to add PDO entry: %s\n", + EC_PRINT_ERR("Failed to add PDO entry: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -217,7 +217,7 @@ void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to clear PDO entries: %s\n", + EC_PRINT_ERR("Failed to clear PDO entries: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -243,7 +243,7 @@ int ecrt_slave_config_pdos(ec_slave_config_t *sc, break; if (sync_info->index >= EC_MAX_SYNC_MANAGERS) { - fprintf(stderr, "Invalid sync manager index %u!\n", + EC_PRINT_ERR("Invalid sync manager index %u!\n", sync_info->index); return -ENOENT; } @@ -306,7 +306,7 @@ int ecrt_slave_config_reg_pdo_entry( ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to register PDO entry: %s\n", + EC_PRINT_ERR("Failed to register PDO entry: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -315,7 +315,7 @@ int ecrt_slave_config_reg_pdo_entry( *bit_position = data.bit_position; } else { if (data.bit_position) { - fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align " + EC_PRINT_ERR("PDO entry 0x%04X:%02X does not byte-align " "in config %u:%u.\n", index, subindex, sc->alias, sc->position); return -EFAULT; @@ -347,7 +347,7 @@ int ecrt_slave_config_reg_pdo_entry_pos( ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_POS, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to register PDO entry: %s\n", + EC_PRINT_ERR("Failed to register PDO entry: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -356,7 +356,7 @@ int ecrt_slave_config_reg_pdo_entry_pos( *bit_position = io.bit_position; } else { if (io.bit_position) { - fprintf(stderr, "PDO entry %u/%u/%u does not byte-align " + EC_PRINT_ERR("PDO entry %u/%u/%u does not byte-align " "in config %u:%u.\n", sync_index, pdo_pos, entry_pos, sc->alias, sc->position); return -EFAULT; @@ -384,7 +384,7 @@ void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate, ret = ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to set DC parameters: %s\n", + EC_PRINT_ERR("Failed to set DC parameters: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -406,7 +406,7 @@ int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index, ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to configure SDO: %s\n", + EC_PRINT_ERR("Failed to configure SDO: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -431,7 +431,7 @@ int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index, ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to configure SDO: %s\n", + EC_PRINT_ERR("Failed to configure SDO: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -484,7 +484,7 @@ int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements) ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_SIZE, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to set emergency ring size: %s\n", + EC_PRINT_ERR("Failed to set emergency ring size: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -505,7 +505,7 @@ int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target) ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_POP, &io); if (EC_IOCTL_IS_ERROR(ret)) { if (EC_IOCTL_ERRNO(ret) != ENOENT) { - fprintf(stderr, "Failed to get emergency message: %s\n", + EC_PRINT_ERR("Failed to get emergency message: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } return -EC_IOCTL_ERRNO(ret); @@ -525,7 +525,7 @@ int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc) ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_CLEAR, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to clear emergency ring: %s\n", + EC_PRINT_ERR("Failed to clear emergency ring: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -544,7 +544,7 @@ int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc) ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_OVERRUNS, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get emergency overruns: %s\n", + EC_PRINT_ERR("Failed to get emergency overruns: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } @@ -579,14 +579,14 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc, req = malloc(sizeof(ec_sdo_request_t)); if (!req) { - fprintf(stderr, "Failed to allocate memory.\n"); + EC_PRINT_ERR("Failed to allocate memory.\n"); return 0; } if (size) { req->data = malloc(size); if (!req->data) { - fprintf(stderr, "Failed to allocate %zu bytes of SDO data" + EC_PRINT_ERR("Failed to allocate %zu bytes of SDO data" " memory.\n", size); free(req); return 0; @@ -602,7 +602,7 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to create SDO request: %s\n", + EC_PRINT_ERR("Failed to create SDO request: %s\n", strerror(EC_IOCTL_ERRNO(ret))); ec_sdo_request_clear(req); free(req); @@ -649,14 +649,14 @@ ec_reg_request_t *ecrt_slave_config_create_reg_request(ec_slave_config_t *sc, reg = malloc(sizeof(ec_reg_request_t)); if (!reg) { - fprintf(stderr, "Failed to allocate memory.\n"); + EC_PRINT_ERR("Failed to allocate memory.\n"); return NULL; } if (size) { reg->data = malloc(size); if (!reg->data) { - fprintf(stderr, "Failed to allocate %zu bytes of register data" + EC_PRINT_ERR("Failed to allocate %zu bytes of register data" " memory.\n", size); free(reg); return 0; @@ -670,7 +670,7 @@ ec_reg_request_t *ecrt_slave_config_create_reg_request(ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_REQUEST, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to create register request: %s\n", + EC_PRINT_ERR("Failed to create register request: %s\n", strerror(EC_IOCTL_ERRNO(ret))); ec_reg_request_clear(reg); free(reg); @@ -714,14 +714,14 @@ ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc, voe = malloc(sizeof(ec_voe_handler_t)); if (!voe) { - fprintf(stderr, "Failed to allocate memory.\n"); + EC_PRINT_ERR("Failed to allocate memory.\n"); return 0; } if (size) { voe->data = malloc(size); if (!voe->data) { - fprintf(stderr, "Failed to allocate %zu bytes of VoE data" + EC_PRINT_ERR("Failed to allocate %zu bytes of VoE data" " memory.\n", size); free(voe); return 0; @@ -735,7 +735,7 @@ ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to create VoE handler: %s\n", + EC_PRINT_ERR("Failed to create VoE handler: %s\n", strerror(EC_IOCTL_ERRNO(ret))); ec_voe_handler_clear(voe); free(voe); @@ -766,7 +766,7 @@ void ecrt_slave_config_state(const ec_slave_config_t *sc, ret = ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get slave configuration state: %s\n", + EC_PRINT_ERR("Failed to get slave configuration state: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -788,7 +788,7 @@ int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no, ret = ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to configure IDN: %s\n", + EC_PRINT_ERR("Failed to configure IDN: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return -EC_IOCTL_ERRNO(ret); } diff --git a/lib/voe_handler.c b/lib/voe_handler.c index 723f530a..c6382d5f 100644 --- a/lib/voe_handler.c +++ b/lib/voe_handler.c @@ -66,7 +66,7 @@ void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id, ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to set VoE send header: %s\n", + EC_PRINT_ERR("Failed to set VoE send header: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -86,7 +86,7 @@ void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe, ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get received VoE header: %s\n", + EC_PRINT_ERR("Failed to get received VoE header: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -117,7 +117,7 @@ void ecrt_voe_handler_read(ec_voe_handler_t *voe) ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to initiate VoE reading: %s\n", + EC_PRINT_ERR("Failed to initiate VoE reading: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -134,7 +134,7 @@ void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe) ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to initiate VoE reading: %s\n", + EC_PRINT_ERR("Failed to initiate VoE reading: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -153,7 +153,7 @@ void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size) ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to initiate VoE writing: %s\n", + EC_PRINT_ERR("Failed to initiate VoE writing: %s\n", strerror(EC_IOCTL_ERRNO(ret))); } } @@ -170,14 +170,14 @@ ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe) ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to execute VoE handler: %s\n", + EC_PRINT_ERR("Failed to execute VoE handler: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return EC_REQUEST_ERROR; } if (data.size) { // new data waiting to be copied if (voe->mem_size < data.size) { - fprintf(stderr, "Received %zu bytes do not fit info VoE data" + EC_PRINT_ERR("Received %zu bytes do not fit info VoE data" " memory (%zu bytes)!\n", data.size, voe->mem_size); return EC_REQUEST_ERROR; } @@ -186,7 +186,7 @@ ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe) ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data); if (EC_IOCTL_IS_ERROR(ret)) { - fprintf(stderr, "Failed to get VoE data: %s\n", + EC_PRINT_ERR("Failed to get VoE data: %s\n", strerror(EC_IOCTL_ERRNO(ret))); return EC_REQUEST_ERROR; }