slave.c

                         uint8_t sdo_subindex, /**< SDO subindex */
                         uint8_t value /**< new SDO value */
                         )
{
    uint8_t data[1];
    EC_WRITE_U8(data, value);
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
}

/*****************************************************************************/

/**
   \return 0 in case of success, else < 0
   \ingroup RealtimeInterface
*/

int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
                          uint16_t sdo_index, /**< SDO index */
                          uint8_t sdo_subindex, /**< SDO subindex */
                          uint16_t value /**< new SDO value */
                          )
{
    uint8_t data[2];
    EC_WRITE_U16(data, value);
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
}

/*****************************************************************************/

/**
   \return 0 in case of success, else < 0
   \ingroup RealtimeInterface
*/

int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
                          uint16_t sdo_index, /**< SDO index */
                          uint8_t sdo_subindex, /**< SDO subindex */
                          uint32_t value /**< new SDO value */
                          )
{
    uint8_t data[4];
    EC_WRITE_U32(data, value);
    return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
}

/*****************************************************************************/

/**
   \return 0 in case of success, else < 0
   \ingroup RealtimeInterface
*/

int ecrt_slave_pdo_size(ec_slave_t *slave, /**< EtherCAT slave */
                        uint16_t pdo_index, /**< PDO index */
                        uint8_t pdo_subindex, /**< PDO subindex */
                        size_t size /**< new PDO size */
                        )
{
    EC_WARN("ecrt_slave_pdo_size() currently not available.\n");
    return -1;

#if 0
    unsigned int i, j, field_counter;
    const ec_sii_sync_t *sync;
    const ec_pdo_t *pdo;
    ec_varsize_t *var;

    if (!slave->type) {
        EC_ERR("Slave %i has no type information!\n", slave->ring_position);
        return -1;
    }

    field_counter = 0;
    for (i = 0; (sync = slave->type->sync_managers[i]); i++) {
        for (j = 0; (field = sync->fields[j]); j++) {
            if (!strcmp(field->name, field_name)) {
                if (field_counter++ == field_index) {
                    // is the size of this field variable?
                    if (field->size) {
                        EC_ERR("Field \"%s\"[%i] of slave %i has no variable"
                               " size!\n", field->name, field_index,
                               slave->ring_position);
                        return -1;
                    }
                    // does a size specification already exist?
                    list_for_each_entry(var, &slave->varsize_fields, list) {
                        if (var->field == field) {
                            EC_WARN("Resizing field \"%s\"[%i] of slave %i.\n",
                                    field->name, field_index,
                                    slave->ring_position);
                            var->size = size;
                            return 0;
                        }
                    }
                    // create a new size specification...
                    if (!(var = kmalloc(sizeof(ec_varsize_t), GFP_KERNEL))) {
                        EC_ERR("Failed to allocate memory for varsize_t!\n");
                        return -1;
                    }
                    var->field = field;
                    var->size = size;
                    list_add_tail(&var->list, &slave->varsize_fields);
                    return 0;
                }
            }
        }
    }

    EC_ERR("Slave %i (\"%s %s\") has no field \"%s\"[%i]!\n",
           slave->ring_position, slave->type->vendor_name,
           slave->type->product_name, field_name, field_index);
    return -1;
#endif
}

/*****************************************************************************/

/**< \cond */

EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
EXPORT_SYMBOL(ecrt_slave_pdo_size);

/**< \endcond */

/*****************************************************************************/