--- a/lib/sdo_request.c	Thu Sep 20 09:20:51 2012 +0200
+++ b/lib/sdo_request.c	Thu Sep 20 15:28:25 2012 +0200
@@ -2,7 +2,7 @@
  *
  *  $Id$
  *
- *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
  *
  *  This file is part of the IgH EtherCAT master userspace library.
  *
@@ -35,12 +35,10 @@
 /*****************************************************************************/
 
 #include <stdio.h>
-#include <errno.h>
 #include <string.h>
-#include <sys/ioctl.h>
 
+#include "ioctl.h"
 #include "sdo_request.h"
-#include "master/ioctl.h"
 #include "slave_config.h"
 #include "master.h"
 
@@ -60,15 +58,17 @@
 void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
 {
     ec_ioctl_sdo_request_t data;
+    int ret;
 
     data.config_index = req->config->index;
     data.request_index = req->index;
     data.timeout = timeout;
 
-    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT,
-                &data) == -1)
+    ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to set SDO request timeout: %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
+    }
 }
 
 /*****************************************************************************/
@@ -90,14 +90,17 @@
 ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req)
 {
     ec_ioctl_sdo_request_t data;
+    int ret;
 
     data.config_index = req->config->index;
     data.request_index = req->index;
 
-    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE,
-                &data) == -1)
+    ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to get SDO request state: %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return EC_REQUEST_ERROR;
+    }
 
     if (data.size) { // new data waiting to be copied
         if (req->mem_size < data.size) {
@@ -108,9 +111,11 @@
 
         data.data = req->data;
 
-        if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_DATA,
-                    &data) == -1) {
-            fprintf(stderr, "Failed to get SDO data: %s\n", strerror(errno));
+        ret = ioctl(req->config->master->fd,
+                EC_IOCTL_SDO_REQUEST_DATA, &data);
+        if (EC_IOCTL_IS_ERROR(ret)) {
+            fprintf(stderr, "Failed to get SDO data: %s\n",
+                    strerror(EC_IOCTL_ERRNO(ret)));
             return EC_REQUEST_ERROR;
         }
         req->data_size = data.size;
@@ -124,14 +129,16 @@
 void ecrt_sdo_request_read(ec_sdo_request_t *req)
 {
     ec_ioctl_sdo_request_t data;
+    int ret;
 
     data.config_index = req->config->index;
     data.request_index = req->index;
 
-    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ,
-                &data) == -1)
+    ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to command an SDO read operation : %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
+    }
 }
 
 /*****************************************************************************/
@@ -139,16 +146,18 @@
 void ecrt_sdo_request_write(ec_sdo_request_t *req)
 {
     ec_ioctl_sdo_request_t data;
+    int ret;
 
     data.config_index = req->config->index;
     data.request_index = req->index;
     data.data = req->data;
     data.size = req->data_size;
 
-    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE,
-                &data) == -1)
+    ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to command an SDO write operation : %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
+    }
 }
 
 /*****************************************************************************/