297     data.complete_access = 0;

   298 

   299     if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {

   300         fprintf(stderr, "Failed to configure SDO.\n");

   301         return -1; // FIXME

   302     }

   303 

   304     return 0;

   305 }

   306 

   307 /*****************************************************************************/

   308 

   309 int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,

   310         const uint8_t *sdo_data, size_t size)

   311 {

   312     ec_ioctl_sc_sdo_t data;

   313 

   314     data.config_index = sc->index;

   315     data.index = index;

   316     data.subindex = 0;

   317     data.data = sdo_data;

   318     data.size = size;

   319     data.complete_access = 1;