--- a/lib/slave_config.c Thu Nov 19 14:39:10 2009 +0100
+++ b/lib/slave_config.c Thu Nov 19 14:44:57 2009 +0100
@@ -294,6 +294,29 @@
data.subindex = subindex;
data.data = sdo_data;
data.size = size;
+ data.complete_access = 0;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
+ fprintf(stderr, "Failed to configure SDO.\n");
+ return -1; // FIXME
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
+ const uint8_t *sdo_data, size_t size)
+{
+ ec_ioctl_sc_sdo_t data;
+
+ data.config_index = sc->index;
+ data.index = index;
+ data.subindex = 0;
+ data.data = sdo_data;
+ data.size = size;
+ data.complete_access = 1;
if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
fprintf(stderr, "Failed to configure SDO.\n");