--- a/lib/slave_config.c	Thu Aug 05 09:54:06 2010 +0200
+++ b/lib/slave_config.c	Thu Sep 16 10:16:12 2010 +0200
@@ -43,6 +43,29 @@
 
 /*****************************************************************************/
 
+void ec_slave_config_clear(ec_slave_config_t *sc)
+{
+    ec_sdo_request_t *r, *next_r;
+    ec_voe_handler_t *v, *next_v;
+
+    r = sc->first_sdo_request;
+    while (r) {
+        next_r = r->next;
+        ec_sdo_request_clear(r);
+        r = next_r;
+    }
+
+
+    v = sc->first_voe_handler;
+    while (v) {
+        next_v = v->next;
+        ec_voe_handler_clear(v);
+        v = next_v;
+    }
+}
+
+/*****************************************************************************/
+
 int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
         ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
 {
@@ -361,6 +384,22 @@
 
 /*****************************************************************************/
 
+void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,
+        ec_sdo_request_t *req)
+{
+    if (sc->first_sdo_request) {
+        ec_sdo_request_t *r = sc->first_sdo_request;
+        while (r->next) {
+            r = r->next;
+        }
+        r->next = req;
+    } else {
+        sc->first_sdo_request = req;
+    }
+}
+
+/*****************************************************************************/
+
 ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
         uint16_t index, uint8_t subindex, size_t size)
 {
@@ -393,23 +432,42 @@
     if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) {
         fprintf(stderr, "Failed to create SDO request: %s\n",
                 strerror(errno));
-        if (req->data)
-            free(req->data);
+        ec_sdo_request_clear(req);
         free(req);
         return NULL; 
     }
 
+    req->next = NULL;
     req->config = sc;
     req->index = data.request_index;
     req->sdo_index = data.sdo_index;
     req->sdo_subindex = data.sdo_subindex;
     req->data_size = size;
     req->mem_size = size;
+
+    ec_slave_config_add_sdo_request(sc, req);
+
     return req;
 }
 
 /*****************************************************************************/
 
+void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,
+        ec_voe_handler_t *voe)
+{
+    if (sc->first_voe_handler) {
+        ec_voe_handler_t *v = sc->first_voe_handler;
+        while (v->next) {
+            v = v->next;
+        }
+        v->next = voe;
+    } else {
+        sc->first_voe_handler = voe;
+    }
+}
+
+/*****************************************************************************/
+
 ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
         size_t size)
 {
@@ -441,16 +499,19 @@
     if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
         fprintf(stderr, "Failed to create VoE handler: %s\n",
                 strerror(errno));
-        if (voe->data)
-            free(voe->data);
+        ec_voe_handler_clear(voe);
         free(voe);
         return NULL; 
     }
 
+    voe->next = NULL;
     voe->config = sc;
     voe->index = data.voe_index;
     voe->data_size = size;
     voe->mem_size = size;
+
+    ec_slave_config_add_voe_handler(sc, voe);
+
     return voe;
 }