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VILLASnode/include/villas/nodes/ethercat_config.hpp
Philipp Jungkamp 802f86090b node-ethercat: Fix #include after opened namespace 
The `ethercat_config.hpp` header was included from `ethercat.hpp`
after opening the `villas::node` namespace. This made all definitions
originating from that header including the transitive definitions
from ethercat's `ecrt.h` part of the `villas::node` namespace.

The especially problematic part was that `ecrt.h` itself has an
`#include <netinet/in.h>` introduced in [1]. This caused the libc
definitions for `sa_familt_t`, `sockaddr_in` and `sockaddr_in6` to be
moved into the `villas::node` namespace, causing build error on recent
`ethercat` versions.

[1]: c2f9baf96a

Signed-off-by: Philipp Jungkamp <philipp.jungkamp@rwth-aachen.de>
2024-10-16 21:59:41 +02:00

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/* Configuration for Ethercat Node-type.
*
* Author: Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
* Author: Steffen Vogel <post@steffenvogel.de>
* Author: Divya Laxetti <divya.laxetti@rwth-aachen.de>
* SPDX-FileCopyrightText: 2018-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
* SPDX-License-Identifier: Apache-2.0
*/
#pragma once
#include <ecrt.h>
#define ETHERCAT_VID_BECKHOFF 0x00000002
#define ETHERCAT_PID_EK1100 0x044c2c52
#define ETHERCAT_PID_EL2004 0x07d43052
#define ETHERCAT_PID_EL2032 0x07f03052
#define ETHERCAT_PID_EL3152 0x0c503052
#define ETHERCAT_PID_EL3102 0x0c1e3052
#define ETHERCAT_PID_EL4102 0x10063052
// CWD Bus
#define ETHERCAT_PID_EL4038 0x0fc63052
#define ETHERCAT_PID_EL3008 0x0bc03052
#define ETHERCAT_PID_FC1100 0x044c0c62
namespace villas::node {
// TODO: Make PDO entry tables configurable
/* Master 0, Slave 3, "EL4038"
* Vendor ID: 0x00000002
* Product code: 0x0fc63052
* Revision number: 0x00140000
*/
static ec_pdo_entry_info_t slave_3_pdo_entries[] = {
{0x7000, 0x01, 16}, // Analog output
{0x7010, 0x01, 16}, // Analog output
{0x7020, 0x01, 16}, // Analog output
{0x7030, 0x01, 16}, // Analog output
{0x7040, 0x01, 16}, // Analog output
{0x7050, 0x01, 16}, // Analog output
{0x7060, 0x01, 16}, // Analog output
{0x7070, 0x01, 16}, // Analog output
};
static ec_pdo_info_t slave_3_pdos[] = {
{0x1600, 1, slave_3_pdo_entries + 0}, // AO RxPDO-Map Outputs Ch.1
{0x1601, 1, slave_3_pdo_entries + 1}, // AO RxPDO-Map Outputs Ch.2
{0x1602, 1, slave_3_pdo_entries + 2}, // AO RxPDO-Map Outputs Ch.3
{0x1603, 1, slave_3_pdo_entries + 3}, // AO RxPDO-Map Outputs Ch.4
{0x1604, 1, slave_3_pdo_entries + 4}, // AO RxPDO-Map Outputs Ch.5
{0x1605, 1, slave_3_pdo_entries + 5}, // AO RxPDO-Map Outputs Ch.6
{0x1606, 1, slave_3_pdo_entries + 6}, // AO RxPDO-Map Outputs Ch.7
{0x1607, 1, slave_3_pdo_entries + 7}, // AO RxPDO-Map Outputs Ch.8
};
static ec_sync_info_t slave_3_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 8, slave_3_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{0xff}};
/* Master 0, Slave 4, "EL3008"
* Vendor ID: 0x00000002
* Product code: 0x0bc03052
* Revision number: 0x00150000
*/
static ec_pdo_entry_info_t slave_4_pdo_entries[] = {
{0x6000, 0x01, 1}, // Underrange
{0x6000, 0x02, 1}, // Overrange
{0x6000, 0x03, 2}, // Limit 1
{0x6000, 0x05, 2}, // Limit 2
{0x6000, 0x07, 1}, // Error
{0x0000, 0x00, 1}, // Gap
{0x0000, 0x00, 6}, // Gap
{0x6000, 0x0f, 1}, // TxPDO State
{0x6000, 0x10, 1}, // TxPDO Toggle
{0x6000, 0x11, 16}, // Value
{0x6010, 0x01, 1}, // Underrange
{0x6010, 0x02, 1}, // Overrange
{0x6010, 0x03, 2}, // Limit 1
{0x6010, 0x05, 2}, // Limit 2
{0x6010, 0x07, 1}, // Error
{0x0000, 0x00, 1}, // Gap
{0x0000, 0x00, 6}, // Gap
{0x6010, 0x0f, 1}, // TxPDO State
{0x6010, 0x10, 1}, // TxPDO Toggle
{0x6010, 0x11, 16}, // Value
{0x6020, 0x01, 1}, // Underrange
{0x6020, 0x02, 1}, // Overrange
{0x6020, 0x03, 2}, // Limit 1
{0x6020, 0x05, 2}, // Limit 2
{0x6020, 0x07, 1}, // Error
{0x0000, 0x00, 1}, // Gap
{0x0000, 0x00, 6}, // Gap
{0x6020, 0x0f, 1}, // TxPDO State
{0x6020, 0x10, 1}, // TxPDO Toggle
{0x6020, 0x11, 16}, // Value
{0x6030, 0x01, 1}, // Underrange
{0x6030, 0x02, 1}, // Overrange
{0x6030, 0x03, 2}, // Limit 1
{0x6030, 0x05, 2}, // Limit 2
{0x6030, 0x07, 1}, // Error
{0x0000, 0x00, 1}, // Gap
{0x0000, 0x00, 6}, // Gap
{0x6030, 0x0f, 1}, // TxPDO State
{0x6030, 0x10, 1}, // TxPDO Toggle
{0x6030, 0x11, 16}, // Value
{0x6040, 0x01, 1}, // Underrange
{0x6040, 0x02, 1}, // Overrange
{0x6040, 0x03, 2}, // Limit 1
{0x6040, 0x05, 2}, // Limit 2
{0x6040, 0x07, 1}, // Error
{0x0000, 0x00, 1}, // Gap
{0x0000, 0x00, 6}, // Gap
{0x6040, 0x0f, 1}, // TxPDO State
{0x6040, 0x10, 1}, // TxPDO Toggle
{0x6040, 0x11, 16}, // Value
{0x6050, 0x01, 1}, // Underrange
{0x6050, 0x02, 1}, // Overrange
{0x6050, 0x03, 2}, // Limit 1
{0x6050, 0x05, 2}, // Limit 2
{0x6050, 0x07, 1}, // Error
{0x0000, 0x00, 1}, // Gap
{0x0000, 0x00, 6}, // Gap
{0x6050, 0x0f, 1}, // TxPDO State
{0x6050, 0x10, 1}, // TxPDO Toggle
{0x6050, 0x11, 16}, // Value
{0x6060, 0x01, 1}, // Underrange
{0x6060, 0x02, 1}, // Overrange
{0x6060, 0x03, 2}, // Limit 1
{0x6060, 0x05, 2}, // Limit 2
{0x6060, 0x07, 1}, // Error
{0x0000, 0x00, 1}, // Gap
{0x0000, 0x00, 6}, // Gap
{0x6060, 0x0f, 1}, // TxPDO State
{0x6060, 0x10, 1}, // TxPDO Toggle
{0x6060, 0x11, 16}, // Value
{0x6070, 0x01, 1}, // Underrange
{0x6070, 0x02, 1}, // Overrange
{0x6070, 0x03, 2}, // Limit 1
{0x6070, 0x05, 2}, // Limit 2
{0x6070, 0x07, 1}, // Error
{0x0000, 0x00, 1}, // Gap
{0x0000, 0x00, 6}, // Gap
{0x6070, 0x0f, 1}, // TxPDO State
{0x6070, 0x10, 1}, // TxPDO Toggle
{0x6070, 0x11, 16}, // Value
};
static ec_pdo_info_t slave_4_pdos[] = {
{0x1a00, 10, slave_4_pdo_entries + 0}, // AI TxPDO-Map Standard Ch.1
{0x1a02, 10, slave_4_pdo_entries + 10}, // AI TxPDO-Map Standard Ch.2
{0x1a04, 10, slave_4_pdo_entries + 20}, // AI TxPDO-Map Standard Ch.3
{0x1a06, 10, slave_4_pdo_entries + 30}, // AI TxPDO-Map Standard Ch.4
{0x1a08, 10, slave_4_pdo_entries + 40}, // AI TxPDO-Map Standard Ch.5
{0x1a0a, 10, slave_4_pdo_entries + 50}, // AI TxPDO-Map Standard Ch.6
{0x1a0c, 10, slave_4_pdo_entries + 60}, // AI TxPDO-Map Standard Ch.7
{0x1a0e, 10, slave_4_pdo_entries + 70}, // AI TxPDO-Map Standard Ch.8
};
static ec_sync_info_t slave_4_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 8, slave_4_pdos + 0, EC_WD_DISABLE},
{0xff}};
} // namespace villas::node
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