343     download.complete_access = 0;

   344     download.data_size = data_size;

   345     download.data = data;

   346 

   347     if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {

   348         if (errno == EIO && abort_code) {

   349             *abort_code = download.abort_code;

   350         }

   351         fprintf(stderr, "Failed to execute SDO download: %s\n",

   352             strerror(errno));

   353         return -1;

   354     }

   355 

   356     return 0;

   357 }

   358 

   359 /*****************************************************************************/

   360 

   361 int ecrt_master_sdo_download_complete(ec_master_t *master,

   362         uint16_t slave_position, uint16_t index, uint8_t *data,

   363         size_t data_size, uint32_t *abort_code)

   364 {

   365     ec_ioctl_slave_sdo_download_t download;

   366 

   367     download.slave_position = slave_position;

   368     download.sdo_index = index;

   369     download.sdo_entry_subindex = 0;

   370     download.complete_access = 1;