nuttx/nuttx-mirror
1
2
Fork 0
mirror of https://github.com/apache/nuttx.git synced 2025-01-13 13:18:50 +08:00
Code Issues Projects Releases Packages Wiki Activity Actions

motor/foc: use motor debug messages in FOC files

Browse source
This commit is contained in:
raiden00pl 2021-04-01 08:57:23 +02:00 committed by Alan Carvalho de Assis
parent 0f847c1514
commit 5bff5dc971
5 changed files with 76 additions and 77 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

34
arch/arm/src/stm32/stm32_foc.c
View file

@ -964,7 +964,7 @@ static int stm32_foc_start(FAR struct foc_dev_s *dev, bool state)
ret = stm32_foc_pwm_start(dev, state);
if (ret < 0)
{
pwrerr("ERROR: stm32_foc_pwm_start failed %d\n", ret);
mtrerr("stm32_foc_pwm_start failed %d\n", ret);
goto errout;
}
@ -973,7 +973,7 @@ static int stm32_foc_start(FAR struct foc_dev_s *dev, bool state)
ret = stm32_foc_adc_start(dev, state);
if (ret < 0)
{
pwrerr("ERROR: stm32_foc_adc_start failed %d\n", ret);
mtrerr("stm32_foc_adc_start failed %d\n", ret);
goto errout;
}
@ -1177,7 +1177,7 @@ static int stm32_foc_configure(FAR struct foc_dev_s *dev,
ret = stm32_foc_adc_cfg(dev);
if (ret < 0)
{
pwrerr("ERROR: stm32_foc_adc_cfg failed %d\n", ret);
mtrerr("stm32_foc_adc_cfg failed %d\n", ret);
goto errout;
}
@ -1186,7 +1186,7 @@ static int stm32_foc_configure(FAR struct foc_dev_s *dev,
ret = stm32_foc_pwm_cfg(dev, cfg->pwm_freq);
if (ret < 0)
{
pwrerr("ERROR: stm32_foc_pwm_cfg failed %d\n", ret);
mtrerr("stm32_foc_pwm_cfg failed %d\n", ret);
goto errout;
}
@ -1195,7 +1195,7 @@ static int stm32_foc_configure(FAR struct foc_dev_s *dev,
ret = stm32_foc_notifier_cfg(dev, cfg->notifier_freq);
if (ret < 0)
{
pwrerr("ERROR: stm32_foc_notifier_cfg failed %d\n", ret);
mtrerr("stm32_foc_notifier_cfg failed %d\n", ret);
goto errout;
}
@ -1263,7 +1263,7 @@ static int stm32_foc_setup(FAR struct foc_dev_s *dev)
ret = board->ops->setup(dev);
if (ret < 0)
{
pwrerr("ERROR: board->setup failed %d\n", ret);
mtrerr("board->setup failed %d\n", ret);
goto errout;
}
@ -1325,7 +1325,7 @@ static int stm32_foc_setup(FAR struct foc_dev_s *dev)
ret = up_prioritize_irq(foc_dev->adc_irq, NVIC_SYSH_PRIORITY_DEFAULT);
if (ret < 0)
{
pwrerr("ERROR: up_prioritize_irq failed: %d\n", ret);
mtrerr("up_prioritize_irq failed: %d\n", ret);
goto errout;
}
@ -1334,7 +1334,7 @@ static int stm32_foc_setup(FAR struct foc_dev_s *dev)
ret = irq_attach(foc_dev->adc_irq, stm32_foc_adc_handler, NULL);
if (ret < 0)
{
pwrerr("ERROR: irq_attach failed: %d\n", ret);
mtrerr("irq_attach failed: %d\n", ret);
goto errout;
}
@ -1348,7 +1348,7 @@ static int stm32_foc_setup(FAR struct foc_dev_s *dev)
ret = stm32_foc_trace_init(dev);
if (ret < 0)
{
pwrerr("ERROR: stm32_foc_trace_init failed %d\n", ret);
mtrerr("stm32_foc_trace_init failed %d\n", ret);
goto errout;
}
#endif
@ -1358,7 +1358,7 @@ static int stm32_foc_setup(FAR struct foc_dev_s *dev)
ret = stm32_foc_calibration_start(dev);
if (ret < 0)
{
pwrerr("ERROR: stm32_foc_calibration_start failed %d\n", ret);
mtrerr("stm32_foc_calibration_start failed %d\n", ret);
goto errout;
}
@ -1684,7 +1684,7 @@ static int stm32_foc_calibration_start(FAR struct foc_dev_s *dev)
DEBUGASSERT(pwm);
DEBUGASSERT(adc);
pwrinfo("Start ADC offset calibration\n");
mtrinfo("Start ADC offset calibration\n");
/* Call board-specific */
@ -1775,7 +1775,7 @@ static int stm32_foc_calibration_start(FAR struct foc_dev_s *dev)
STM32_ADC_OFFSET_SET(adc, ch, i, priv->data.curr_offset[i]);
}
pwrinfo("ADC offset calibration - DONE!\n");
mtrinfo("ADC offset calibration - DONE!\n");
errout:
@ -1943,7 +1943,7 @@ static int stm32_foc_bind(FAR struct foc_dev_s *dev,
if (dev->devno > CONFIG_MOTOR_FOC_INST)
{
pwrerr("ERROR: unsupported STM32 FOC instance %d\n", dev->devno);
mtrerr("Unsupported STM32 FOC instance %d\n", dev->devno);
ret = -EINVAL;
goto errout;
}
@ -2114,7 +2114,7 @@ stm32_foc_initialize(int inst, FAR struct stm32_foc_board_s *board)
default:
{
pwrerr("ERROR: unsupported STM32 FOC instance %d\n", inst);
mtrerr("Unsupported STM32 FOC instance %d\n", inst);
set_errno(EINVAL);
goto errout;
}
@ -2164,7 +2164,7 @@ stm32_foc_initialize(int inst, FAR struct stm32_foc_board_s *board)
foc_dev->pwm = (FAR struct stm32_pwm_dev_s *)stm32_pwminitialize(pwm_inst);
if (foc_dev->pwm == NULL)
{
pwrerr("ERROR: Failed to get PWM%d interface\n", pwm_inst);
mtrerr("Failed to get PWM%d interface\n", pwm_inst);
set_errno(EINVAL);
goto errout;
}
@ -2184,7 +2184,7 @@ stm32_foc_initialize(int inst, FAR struct stm32_foc_board_s *board)
if (adc_inst != adc_cfg->intf)
{
pwrerr("ERROR: configuration doesn't match %d, %d\n",
mtrerr("Configuration doesn't match %d, %d\n",
adc_inst, adc_cfg->intf);
set_errno(EINVAL);
goto errout;
@ -2197,7 +2197,7 @@ stm32_foc_initialize(int inst, FAR struct stm32_foc_board_s *board)
adc_cfg->nchan);
if (foc_dev->adc_dev == NULL)
{
pwrerr("ERROR: Failed to get ADC%d interface\n", adc_cfg->intf);
mtrerr("Failed to get ADC%d interface\n", adc_cfg->intf);
set_errno(EINVAL);
goto errout;
}

51
arch/sim/src/sim/up_foc.c
View file

@ -175,7 +175,7 @@ static int sim_foc_pwm_setup(FAR struct foc_dev_s *dev, uint32_t freq)
DEBUGASSERT(dev);
DEBUGASSERT(sim);
pwrinfo("[PWM_SETUP] devno=%d freq=%d\n", dev->devno, freq);
mtrinfo("[PWM_SETUP] devno=%d freq=%d\n", dev->devno, freq);
DEBUGASSERT(freq > 0);
@ -200,14 +200,14 @@ static int sim_foc_start(FAR struct foc_dev_s *dev, bool state)
irqstate_t flags;
int ret = OK;
pwrinfo("[FOC_START] devno=%d state=%d\n", dev->devno, state);
mtrinfo("[FOC_START] devno=%d state=%d\n", dev->devno, state);
/* Start PWM */
ret = sim_foc_pwm_start(dev, state);
if (ret < 0)
{
pwrerr("ERROR: sim_foc_pwm_start failed %d\n", ret);
mtrerr("sim_foc_pwm_start failed %d\n", ret);
goto errout;
}
@ -216,7 +216,7 @@ static int sim_foc_start(FAR struct foc_dev_s *dev, bool state)
ret = sim_foc_adc_start(dev, state);
if (ret < 0)
{
pwrerr("ERROR: sim_foc_adc_start failed %d\n", ret);
mtrerr("sim_foc_adc_start failed %d\n", ret);
goto errout;
}
@ -242,7 +242,7 @@ static int sim_foc_pwm_start(FAR struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
pwrinfo("[PWM_START] devno=%d state=%d\n", dev->devno, state);
mtrinfo("[PWM_START] devno=%d state=%d\n", dev->devno, state);
return OK;
}
@ -259,7 +259,7 @@ static int sim_foc_adc_setup(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
pwrinfo("[ADC_SETUP] devno=%d\n", dev->devno);
mtrinfo("[ADC_SETUP] devno=%d\n", dev->devno);
return OK;
}
@ -276,7 +276,7 @@ static int sim_foc_adc_start(FAR struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
pwrinfo("[ADC_START] devno=%d state=%d\n", dev->devno, state);
mtrinfo("[ADC_START] devno=%d state=%d\n", dev->devno, state);
return OK;
}
@ -297,7 +297,7 @@ static int sim_foc_notifier_cfg(FAR struct foc_dev_s *dev, uint32_t freq)
DEBUGASSERT(dev);
DEBUGASSERT(sim);
pwrinfo("[NOTIFIER_CFG] devno=%d freq=%d\n", dev->devno, freq);
mtrinfo("[NOTIFIER_CFG] devno=%d freq=%d\n", dev->devno, freq);
DEBUGASSERT(freq > 0);
@ -336,14 +336,14 @@ static int sim_foc_configure(FAR struct foc_dev_s *dev,
DEBUGASSERT(cfg->pwm_freq > 0);
DEBUGASSERT(cfg->notifier_freq > 0);
pwrinfo("[FOC_SETUP] devno=%d\n", dev->devno);
mtrinfo("[FOC_SETUP] devno=%d\n", dev->devno);
/* Configure ADC */
ret = sim_foc_adc_setup(dev);
if (ret < 0)
{
pwrerr("ERROR: sim_foc_adc_setup failed %d\n", ret);
mtrerr("sim_foc_adc_setup failed %d\n", ret);
goto errout;
}
@ -352,7 +352,7 @@ static int sim_foc_configure(FAR struct foc_dev_s *dev,
ret = sim_foc_pwm_setup(dev, cfg->pwm_freq);
if (ret < 0)
{
pwrerr("ERROR: sim_foc_pwm_setup failed %d\n", ret);
mtrerr("sim_foc_pwm_setup failed %d\n", ret);
goto errout;
}
@ -361,7 +361,7 @@ static int sim_foc_configure(FAR struct foc_dev_s *dev,
ret = sim_foc_notifier_cfg(dev, cfg->notifier_freq);
if (ret < 0)
{
pwrerr("ERROR: sim_foc_notifier_cfg failed %d\n", ret);
mtrerr("sim_foc_notifier_cfg failed %d\n", ret);
goto errout;
}
@ -385,7 +385,7 @@ static int sim_foc_setup(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
pwrinfo("[FOC_SETUP] devno=%d\n", dev->devno);
mtrinfo("[FOC_SETUP] devno=%d\n", dev->devno);
/* Get HW configuration */
@ -406,7 +406,7 @@ static int sim_foc_shutdown(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
pwrinfo("[FOC_SHUTDOWN] devno=%d\n", dev->devno);
mtrinfo("[FOC_SHUTDOWN] devno=%d\n", dev->devno);
return OK;
}
@ -426,7 +426,7 @@ static int sim_foc_ioctl(FAR struct foc_dev_s *dev, int cmd,
DEBUGASSERT(dev);
pwrinfo("[FOC_IOCTL] devno=%d cmd=%d\n", dev->devno, cmd);
mtrinfo("[FOC_IOCTL] devno=%d cmd=%d\n", dev->devno, cmd);
switch (cmd)
{
@ -456,7 +456,7 @@ static int sim_foc_notifier_handler(FAR struct foc_dev_s *dev)
DEBUGASSERT(dev);
DEBUGASSERT(sim);
pwrinfo("[FOC_NOTIFIER_HANDLER] devno=%d cntr=%d\n",
mtrinfo("[FOC_NOTIFIER_HANDLER] devno=%d cntr=%d\n",
dev->devno, sim->notifier_cntr);
flags = enter_critical_section();
@ -500,14 +500,14 @@ static int sim_foc_pwm_duty_set(FAR struct foc_dev_s *dev,
DEBUGASSERT(duty[i] >= 0);
}
pwrinfo("[PWM_DUTY_SET] devno=%d duty= ", dev->devno);
mtrinfo("[PWM_DUTY_SET] devno=%d duty= ", dev->devno);
#if CONFIG_MOTOR_FOC_PHASES == 2
pwrinfo("[%d %d]\n", duty[0], duty[1]);
mtrinfo("[%d %d]\n", duty[0], duty[1]);
#elif CONFIG_MOTOR_FOC_PHASES == 3
pwrinfo("[%d %d %d]\n", duty[0], duty[1], duty[2]);
mtrinfo("[%d %d %d]\n", duty[0], duty[1], duty[2]);
#elif CONFIG_MOTOR_FOC_PHASES == 4
pwrinfo("[%d %d %d %d]\n", duty[0], duty[1], duty[2], duty[3]);
mtrinfo("[%d %d %d %d]\n", duty[0], duty[1], duty[2], duty[3]);
#else
# error
#endif
@ -551,14 +551,13 @@ static int sim_foc_bind(FAR struct foc_dev_s *dev,
DEBUGASSERT(cb);
DEBUGASSERT(sim);
pwrinfo("[FOC_BIND] devno=%d\n", dev->devno);
mtrinfo("[FOC_BIND] devno=%d\n", dev->devno);
/* Do we support given FOC instance? */
if (dev->devno > CONFIG_MOTOR_FOC_INST)
{
pwrerr("ERROR: unsupported SIM FOC instance %d\n",
dev->devno);
mtrerr("unsupported SIM FOC instance %d\n", dev->devno);
ret = -EINVAL;
goto errout;
}
@ -583,7 +582,7 @@ static int sim_foc_fault_clear(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
pwrinfo("[FAULT_CLEAR] devno=%d\n", dev->devno);
mtrinfo("[FAULT_CLEAR] devno=%d\n", dev->devno);
return OK;
}
@ -601,7 +600,7 @@ static void sim_foc_trace(FAR struct foc_dev_s *dev, int type, bool state)
{
DEBUGASSERT(dev);
pwrinfo("[FOC_TRACE] devno=%d type=%d state=%d\n",
mtrinfo("[FOC_TRACE] devno=%d type=%d state=%d\n",
dev->devno, type, state);
}
#endif /* CONFIG_MOTOR_FOC_TRACE */
@ -623,7 +622,7 @@ FAR struct foc_dev_s *sim_foc_initialize(int inst)
FAR struct foc_lower_s *foc_lower = NULL;
FAR struct foc_dev_s *dev = NULL;
pwrinfo("[FOC_INITIALIZE] inst=%d\n", inst);
mtrinfo("[FOC_INITIALIZE] inst=%d\n", inst);
/* Reset data */

12
boards/arm/stm32/common/src/stm32_ihm07m1.c
View file

@ -336,7 +336,7 @@ static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state)
default:
{
pwrerr("ERROR: board_foc_trace type=%d not supported!\n", type);
mtrerr("board_foc_trace type=%d not supported!\n", type);
DEBUGASSERT(0);
}
}
@ -372,7 +372,7 @@ int board_ihm07m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg)
if (foc == NULL)
{
ret = -errno;
pwrerr("ERROR: failed to initialize STM32 FOC: %d\n", ret);
mtrerr("Failed to initialize STM32 FOC: %d\n", ret);
goto errout;
}
@ -383,7 +383,7 @@ int board_ihm07m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg)
ret = foc_register(FOC_DEVPATH, foc);
if (ret < 0)
{
printf("ERROR: failed to register FOC device: %d\n", ret);
mtrerr("Failed to register FOC device: %d\n", ret);
goto errout;
}
@ -417,7 +417,7 @@ int stm32_adc_setup(void)
{
if (g_foc_dev == NULL)
{
pwrerr("ERROR: failed to get g_foc_dev device\n");
mtrerr("Failed to get g_foc_dev device\n");
ret = -EACCES;
goto errout;
}
@ -427,14 +427,14 @@ int stm32_adc_setup(void)
adc = stm32_foc_adcget(g_foc_dev);
if (adc == NULL)
{
pwrerr("ERROR: failed to get ADC device: %d\n", ret);
mtrerr("Failed to get ADC device: %d\n", ret);
goto errout;
}
ret = adc_register("/dev/adc0", adc);
if (ret < 0)
{
pwrerr("ERROR: adc_register failed: %d\n", ret);
mtrerr("adc_register failed: %d\n", ret);
goto errout;
}

12
boards/arm/stm32/common/src/stm32_ihm08m1.c
View file

@ -326,7 +326,7 @@ static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state)
default:
{
pwrerr("ERROR: board_foc_trace type=%d not supported!\n", type);
mtrerr("board_foc_trace type=%d not supported!\n", type);
DEBUGASSERT(0);
}
}
@ -360,7 +360,7 @@ int board_ihm08m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg)
if (foc == NULL)
{
ret = -errno;
pwrerr("ERROR: failed to initialize STM32 FOC: %d\n", ret);
mtrerr("Failed to initialize STM32 FOC: %d\n", ret);
goto errout;
}
@ -371,7 +371,7 @@ int board_ihm08m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg)
ret = foc_register(FOC_DEVPATH, foc);
if (ret < 0)
{
printf("ERROR: failed to register FOC device: %d\n", ret);
mtrerr("Failed to register FOC device: %d\n", ret);
goto errout;
}
@ -405,7 +405,7 @@ int stm32_adc_setup(void)
{
if (g_foc_dev == NULL)
{
pwrerr("ERROR: failed to get g_foc_dev device\n");
mtrerr("Failed to get g_foc_dev device\n");
ret = -EACCES;
goto errout;
}
@ -415,14 +415,14 @@ int stm32_adc_setup(void)
adc = stm32_foc_adcget(g_foc_dev);
if (adc == NULL)
{
pwrerr("ERROR: failed to get ADC device: %d\n", ret);
mtrerr("Failed to get ADC device: %d\n", ret);
goto errout;
}
ret = adc_register("/dev/adc0", adc);
if (ret < 0)
{
pwrerr("ERROR: adc_register failed: %d\n", ret);
mtrerr("adc_register failed: %d\n", ret);
goto errout;
}

44
drivers/motor/foc/foc_dev.c
View file

@ -272,7 +272,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = foc_start(dev);
if (ret != OK)
{
pwrerr("ERROR: MTRIOC_START failed %d\n", ret);
mtrerr("MTRIOC_START failed %d\n", ret);
}
break;
@ -285,7 +285,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = foc_stop(dev);
if (ret != OK)
{
pwrerr("ERROR: MTRIOC_STOP failed %d\n", ret);
mtrerr("MTRIOC_STOP failed %d\n", ret);
}
break;
@ -302,7 +302,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = foc_state_get(dev, state);
if (ret != OK)
{
pwrerr("ERROR: MTRIOC_GET_STATE failed %d\n", ret);
mtrerr("MTRIOC_GET_STATE failed %d\n", ret);
}
break;
@ -317,7 +317,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = foc_fault_clear(dev);
if (ret != OK)
{
pwrerr("ERROR: MTRIOC_CLEAR_FAULT failed %d\n", ret);
mtrerr("MTRIOC_CLEAR_FAULT failed %d\n", ret);
}
break;
@ -334,7 +334,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = foc_params_set(dev, params);
if (ret != OK)
{
pwrerr("ERROR: MTRIOC_SET_PARAMS failed %d\n", ret);
mtrerr("MTRIOC_SET_PARAMS failed %d\n", ret);
}
break;
@ -351,7 +351,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = foc_cfg_set(dev, cfg);
if (ret != OK)
{
pwrerr("ERROR: MTRIOC_SET_CONFIG failed %d\n", ret);
mtrerr("MTRIOC_SET_CONFIG failed %d\n", ret);
}
break;
@ -368,7 +368,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
ret = foc_info_get(dev, info);
if (ret != OK)
{
pwrerr("ERROR: MTRIOC_GET_INFO failed %d\n", ret);
mtrerr("MTRIOC_GET_INFO failed %d\n", ret);
}
break;
@ -378,7 +378,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
default:
{
pwrinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
mtrinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
/* Call lower-half logic */
@ -449,7 +449,7 @@ static int foc_setup(FAR struct foc_dev_s *dev)
DEBUGASSERT(dev);
pwrinfo("FOC SETUP\n");
mtrinfo("FOC SETUP\n");
/* Reset device data */
@ -461,7 +461,7 @@ static int foc_setup(FAR struct foc_dev_s *dev)
ret = foc_lower_bind(dev);
if (ret < 0)
{
pwrerr("ERROR: foc_lower_bind failed %d\n", ret);
mtrerr("foc_lower_bind failed %d\n", ret);
set_errno(EINVAL);
goto errout;
}
@ -471,7 +471,7 @@ static int foc_setup(FAR struct foc_dev_s *dev)
ret = FOC_OPS_SETUP(dev);
if (ret < 0)
{
pwrerr("FOC_OPS_SETUP failed %d\n", ret);
mtrerr("FOC_OPS_SETUP failed %d\n", ret);
goto errout;
}
@ -493,7 +493,7 @@ int foc_shutdown(FAR struct foc_dev_s *dev)
DEBUGASSERT(dev);
pwrinfo("FOC SHUTDOWN\n");
mtrinfo("FOC SHUTDOWN\n");
/* Call the lower-half shutdown */
@ -516,14 +516,14 @@ static int foc_start(FAR struct foc_dev_s *dev)
DEBUGASSERT(dev);
pwrinfo("FOC START\n");
mtrinfo("FOC START\n");
/* Reset the notifier semaphore */
ret = nxsem_reset(&dev->statesem, 0);
if (ret < 0)
{
pwrerr("ERROR: nxsem_reset failed %d\n", ret);
mtrerr("nxsem_reset failed %d\n", ret);
goto errout;
}
@ -532,7 +532,7 @@ static int foc_start(FAR struct foc_dev_s *dev)
ret = FOC_OPS_START(dev, true);
if (ret < 0)
{
pwrerr("ERROR: FOC_OPS_START failed %d !\n", ret);
mtrerr("FOC_OPS_START failed %d !\n", ret);
goto errout;
}
@ -555,7 +555,7 @@ static int foc_stop(FAR struct foc_dev_s *dev)
DEBUGASSERT(dev);
pwrinfo("FOC STOP\n");
mtrinfo("FOC STOP\n");
/* Zero duty cycle */
@ -566,7 +566,7 @@ static int foc_stop(FAR struct foc_dev_s *dev)
ret = FOC_OPS_DUTY(dev, d_zero);
if (ret < 0)
{
pwrerr("ERROR: FOC_OPS_DUTY failed %d\n", ret);
mtrerr("FOC_OPS_DUTY failed %d\n", ret);
}
/* Stop the FOC */
@ -574,7 +574,7 @@ static int foc_stop(FAR struct foc_dev_s *dev)
ret = FOC_OPS_START(dev, false);
if (ret < 0)
{
pwrerr("ERROR: FOC_OPS_START failed %d\n", ret);
mtrerr("FOC_OPS_START failed %d\n", ret);
}
/* Reset device data */
@ -606,7 +606,7 @@ static int foc_cfg_set(FAR struct foc_dev_s *dev, FAR struct foc_cfg_s *cfg)
memcpy(&dev->cfg, cfg, sizeof(struct foc_cfg_s));
pwrinfo("FOC %" PRIu8 " PWM=%" PRIu32 " notifier=%" PRIu32 "\n",
mtrinfo("FOC %" PRIu8 " PWM=%" PRIu32 " notifier=%" PRIu32 "\n",
dev->devno, dev->cfg.pwm_freq, dev->cfg.notifier_freq);
/* Call arch configuration */
@ -614,7 +614,7 @@ static int foc_cfg_set(FAR struct foc_dev_s *dev, FAR struct foc_cfg_s *cfg)
ret = FOC_OPS_CONFIGURE(dev, &dev->cfg);
if (ret < 0)
{
pwrerr("FOC_OPS_CONFIGURE failed %d\n", ret);
mtrerr("FOC_OPS_CONFIGURE failed %d\n", ret);
goto errout;
}
@ -681,7 +681,7 @@ static int foc_fault_clear(FAR struct foc_dev_s *dev)
ret = FOC_OPS_FAULT_CLEAR(dev);
if (ret < 0)
{
pwrerr("ERROR: FOC_OPS_FAULT_CLEAR failed %d\n", ret);
mtrerr("FOC_OPS_FAULT_CLEAR failed %d\n", ret);
goto errout;
}
@ -861,7 +861,7 @@ int foc_register(FAR const char *path, FAR struct foc_dev_s *dev)
if (dev->devno > CONFIG_MOTOR_FOC_INST)
{
pwrerr("ERROR: unsupported foc devno %d\n\n", dev->devno);
mtrerr("Unsupported foc devno %d\n\n", dev->devno);
set_errno(EINVAL);
ret = ERROR;
goto errout;