685  * \retval -1 An error occured.

   685  * \retval -1 An error occured.

   686  */

   686  */

   687 int ecrt_master_write_idn(

   687 int ecrt_master_write_idn(

   688         ec_master_t *master, /**< EtherCAT master. */

   688         ec_master_t *master, /**< EtherCAT master. */

   689         uint16_t slave_position, /**< Slave position. */

   689         uint16_t slave_position, /**< Slave position. */

   690         uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */

   691         uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */

   691         uint8_t *data, /**< Pointer to data to write. */

   692         uint8_t *data, /**< Pointer to data to write. */

   692         size_t data_size, /**< Size of data to write. */

   693         size_t data_size, /**< Size of data to write. */

   693         uint16_t *error_code /**< Pointer to variable, where an SoE error code

   694         uint16_t *error_code /**< Pointer to variable, where an SoE error code

   694                                can be stored. */

   695                                can be stored. */

   703  * \retval -1 An error occured.

   704  * \retval -1 An error occured.

   704  */

   705  */

   705 int ecrt_master_read_idn(

   706 int ecrt_master_read_idn(

   706         ec_master_t *master, /**< EtherCAT master. */

   707         ec_master_t *master, /**< EtherCAT master. */

   707         uint16_t slave_position, /**< Slave position. */

   708         uint16_t slave_position, /**< Slave position. */

   708         uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */

   710         uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */

   709         uint8_t *target, /**< Pointer to memory where the read data can be

   711         uint8_t *target, /**< Pointer to memory where the read data can be

   710                            stored. */

   712                            stored. */

   711         size_t target_size, /**< Size of the memory \a target points to. */

   713         size_t target_size, /**< Size of the memory \a target points to. */

   712         size_t *result_size, /**< Actual size of the received data. */

   714         size_t *result_size, /**< Actual size of the received data. */

  1210  * \retval  0 Success.

  1212  * \retval  0 Success.

  1211  * \retval <0 Error code.

  1213  * \retval <0 Error code.

  1212  */

  1214  */

  1213 int ecrt_slave_config_idn(

  1215 int ecrt_slave_config_idn(

  1214         ec_slave_config_t *sc, /**< Slave configuration. */

  1216         ec_slave_config_t *sc, /**< Slave configuration. */

  1215         uint16_t idn, /**< SoE IDN. */

  1218         uint16_t idn, /**< SoE IDN. */

  1216         ec_al_state_t state, /**< AL state in which to write the IDN (PREOP or

  1219         ec_al_state_t state, /**< AL state in which to write the IDN (PREOP or

  1217                                SAFEOP). */

  1220                                SAFEOP). */

  1218         const uint8_t *data, /**< Pointer to the data. */

  1221         const uint8_t *data, /**< Pointer to the data. */

  1219         size_t size /**< Size of the \a data. */

  1222         size_t size /**< Size of the \a data. */