diff --git a/arch/arm/src/stm32/stm32_foc.c b/arch/arm/src/stm32/stm32_foc.c
index 1855eae1072..a1db3489dc5 100644
--- a/arch/arm/src/stm32/stm32_foc.c
+++ b/arch/arm/src/stm32/stm32_foc.c
@@ -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;
     }
diff --git a/arch/sim/src/sim/up_foc.c b/arch/sim/src/sim/up_foc.c
index 72c70eb7cb5..30427378f47 100644
--- a/arch/sim/src/sim/up_foc.c
+++ b/arch/sim/src/sim/up_foc.c
@@ -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 */
 
diff --git a/boards/arm/stm32/common/src/stm32_ihm07m1.c b/boards/arm/stm32/common/src/stm32_ihm07m1.c
index 76d58739304..750e1b2986a 100644
--- a/boards/arm/stm32/common/src/stm32_ihm07m1.c
+++ b/boards/arm/stm32/common/src/stm32_ihm07m1.c
@@ -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;
         }
 
diff --git a/boards/arm/stm32/common/src/stm32_ihm08m1.c b/boards/arm/stm32/common/src/stm32_ihm08m1.c
index 141179f7c1c..e15bb8360cf 100644
--- a/boards/arm/stm32/common/src/stm32_ihm08m1.c
+++ b/boards/arm/stm32/common/src/stm32_ihm08m1.c
@@ -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;
         }
 
diff --git a/drivers/motor/foc/foc_dev.c b/drivers/motor/foc/foc_dev.c
index 41de5953330..23ebe3f2451 100644
--- a/drivers/motor/foc/foc_dev.c
+++ b/drivers/motor/foc/foc_dev.c
@@ -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;