diff -r cf8f08631c8e -r 275d2fdeab48 lib/sdo_request.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/sdo_request.c	Mon Feb 02 13:37:00 2009 +0000
@@ -0,0 +1,147 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  Using the EtherCAT technology and brand is permitted in compliance with
+ *  the industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/** \file
+ * Canopen over EtherCAT SDO request functions.
+ */
+
+/*****************************************************************************/
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include "sdo_request.h"
+#include "master/ioctl.h"
+#include "slave_config.h"
+#include "master.h"
+
+/*****************************************************************************
+ * Realtime interface.
+ ****************************************************************************/
+
+void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
+{
+    ec_ioctl_sdo_request_t data;
+
+    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)
+        fprintf(stderr, "Failed to set SDO request timeout: %s\n",
+                strerror(errno));
+}
+
+/*****************************************************************************/
+
+uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
+{
+    return req->data;
+}
+
+/*****************************************************************************/
+
+size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
+{
+    return req->data_size;
+}
+
+/*****************************************************************************/
+
+ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req)
+{
+    ec_ioctl_sdo_request_t data;
+
+    data.config_index = req->config->index;
+    data.request_index = req->index;
+
+    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE,
+                &data) == -1)
+        fprintf(stderr, "Failed to get SDO request state: %s\n",
+                strerror(errno));
+
+    if (data.size) { // new data waiting to be copied
+        if (req->mem_size < data.size) {
+            if (req->data)
+                free(req->data);
+            req->data = malloc(data.size);
+            if (!req->data) {
+                req->mem_size = 0;
+                fprintf(stderr, "Failed to allocate %u bytes of SDO data"
+                        " memory!\n", data.size);
+                return EC_REQUEST_ERROR;
+            }
+            req->mem_size = data.size;
+        }
+
+        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));
+            return EC_REQUEST_ERROR;
+        }
+        req->data_size = data.size;
+    }
+
+    return data.state;
+}
+
+/*****************************************************************************/
+
+void ecrt_sdo_request_read(ec_sdo_request_t *req)
+{
+    ec_ioctl_sdo_request_t data;
+
+    data.config_index = req->config->index;
+    data.request_index = req->index;
+
+    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ,
+                &data) == -1)
+        fprintf(stderr, "Failed to command an SDO read operation : %s\n",
+                strerror(errno));
+}
+
+/*****************************************************************************/
+
+void ecrt_sdo_request_write(ec_sdo_request_t *req)
+{
+    ec_ioctl_sdo_request_t data;
+
+    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)
+        fprintf(stderr, "Failed to command an SDO write operation : %s\n",
+                strerror(errno));
+}
+
+/*****************************************************************************/