[Etherlab-users] Problems with PDOs registration into the domain

[Personale]

Good morning everyone,

I’m trying to configure my ethercat network between my raspberryPi 4, and my Elmo Gold Solo Twitter.
I’m facing a problem into trying to register the pdos into the domain. It seems that whichever pdo I insert into the ec_pdo_entry_reg_t variable I always get the same values. Here I attach my snipped code

#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <time.h> /* clock_gettime() */
#include <sys/mman.h> /* mlockall() */
#include <sched.h> /* sched_setscheduler() */
#include <signal.h>
#include "ecrt.h"

#define DriverSlavePos 0, 0
#define Elmo_GoldTwitter 0x0000009a, 0x00030924
#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
                                     guranteed safe to access without
                                     faulting */
#define TxPDO_LEN 3
#define RxPDO_LEN 8
                                     
volatile sig_atomic_t keepRunning = 1;

static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};

static ec_domain_t *domain = NULL;
static ec_domain_state_t domain_state = {};

static ec_slave_config_t *sc_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_state = {};

static uint8_t *domain_pd = NULL;

static unsigned int off_elm[TxPDO_LEN+RxPDO_LEN];

static const ec_pdo_entry_info_t elmo_pdo_entries[] = {
    {0x6040, 0, 16}, // Control Word
    {0x6060, 0, 8}, // Modes of Operation
    {0x60FF, 0, 32}, // Target Velocity
    {0x2041, 0, 32}, // Timestamp
    {0x606C, 0, 32}, // Actual Velocity
    {0x6041, 0, 16}, // Status Word
    {0x6061, 0, 8}, // Modes of Operation Display
    {0x6064, 0, 32}, // Actual Position
    {0x6077, 0, 16}, // Actual Torque
    {0x22A3, 1, 16}, // Drive Temperature
    {0x6078, 0, 16}, // Actual Current
};

#define PDO_ENTRY_STRUCT(i) {DriverSlavePos, Elmo_GoldTwitter, elmo_pdo_entries[i].index, elmo_pdo_entries[i].subindex, off_elm + i}

const static ec_pdo_entry_reg_t domain_regs[] = {
    PDO_ENTRY_STRUCT(0),
    PDO_ENTRY_STRUCT(1),
    PDO_ENTRY_STRUCT(2),
    PDO_ENTRY_STRUCT(3),
    PDO_ENTRY_STRUCT(4),
    PDO_ENTRY_STRUCT(5),
    PDO_ENTRY_STRUCT(6),
    PDO_ENTRY_STRUCT(7),
    PDO_ENTRY_STRUCT(8),
    PDO_ENTRY_STRUCT(9),
    PDO_ENTRY_STRUCT(10),
    {}
};
    
static ec_pdo_info_t elmo_pdos[] = {
    {0x1600, TxPDO_LEN, elmo_pdo_entries},
    {0x1A00, RxPDO_LEN, elmo_pdo_entries + TxPDO_LEN},
};

static ec_sync_info_t elmo_syncs[] = {
    {2, EC_DIR_OUTPUT, 1, elmo_pdos},
    {3, EC_DIR_INPUT, 1, elmo_pdos + 1},
    {0xff}
};



By running the code and using the command line “ethercat domain —verbose” I see always the same domain values, independently if I change the order of the “domain_reg” inputs. 
Is it normal? Where am I mistaken? 

Thank you very much in advance for the help.