253 

   253 

   254 /****************************************************************************/

   254 /****************************************************************************/

   255 

   255 

   256 void cyclic_task()

   256 void cyclic_task()

   257 {

   257 {

   260     // receive process data

   258     // receive process data

   261     ecrt_master_receive(master);

   259     ecrt_master_receive(master);

   262     ecrt_domain_process(domain1);

   260     ecrt_domain_process(domain1);

   263 

   261 

   264     // check process data state (optional)

   262     // check process data state (optional)

   317 int main(int argc, char **argv)

   315 int main(int argc, char **argv)

   318 {

   316 {

   319     ec_slave_config_t *sc;

   317     ec_slave_config_t *sc;

   320     struct sigaction sa;

   318     struct sigaction sa;

   321     struct itimerval tv;

   319     struct itimerval tv;

   323     master = ecrt_request_master(0);

   321     master = ecrt_request_master(0);

   324     if (!master)

   322     if (!master)

   325         return -1;

   323         return -1;

   326 

   324 

   327     domain1 = ecrt_master_create_domain(master);

   325     domain1 = ecrt_master_create_domain(master);