equal
deleted
inserted
replaced
162 app_time.tv_usec += 1000000 / FREQUENCY; |
162 app_time.tv_usec += 1000000 / FREQUENCY; |
163 if (app_time.tv_usec >= 1000000) { |
163 if (app_time.tv_usec >= 1000000) { |
164 app_time.tv_usec -= 1000000; |
164 app_time.tv_usec -= 1000000; |
165 app_time.tv_sec++; |
165 app_time.tv_sec++; |
166 } |
166 } |
|
167 ecrt_master_application_time(master, EC_TIMEVAL2NANO(&app_time)); |
167 |
168 |
168 if (sync_ref_counter) { |
169 if (sync_ref_counter) { |
169 sync_ref_counter--; |
170 sync_ref_counter--; |
170 } else { |
171 } else { |
171 sync_ref_counter = 9; |
172 sync_ref_counter = 9; |
172 ecrt_master_sync_reference_clock(master, EC_TIMEVAL2NANO(&app_time)); |
173 ecrt_master_sync_reference_clock(master); |
173 } |
174 } |
174 ecrt_master_sync_slave_clocks(master); |
175 ecrt_master_sync_slave_clocks(master); |
175 |
176 |
176 // send process data |
177 // send process data |
177 ecrt_domain_queue(domain1); |
178 ecrt_domain_queue(domain1); |