307 int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,

   308         uint16_t idn, uint8_t *data, size_t data_size, uint32_t *error_code)

   309 {

   310     ec_ioctl_slave_soe_write_t io;

   311 

   312     io.slave_position = slave_position;

   313     io.idn = idn;

   314     io.data_size = data_size;

   315     io.data = data;

   316 

   317     if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io) == -1) {

   318         if (errno == EIO && error_code) {

   319             *error_code = io.error_code;

   320         }

   321         fprintf(stderr, "Failed to write IDN: %s\n", strerror(errno));

   322         return -1;

   323     }

   324 

   325     return 0;

   326 }

   327 

   328 /*****************************************************************************/

   329 

   330 int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,

   331         uint16_t idn, uint8_t *target, size_t target_size,

   332         size_t *result_size, uint32_t *error_code)

   333 {

   334     ec_ioctl_slave_soe_read_t io;

   335 

   336     io.slave_position = slave_position;

   337     io.idn = idn;

   338     io.mem_size = target_size;

   339     io.data = target;

   340 

   341     if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io) == -1) {

   342         if (errno == EIO && error_code) {

   343             *error_code = io.error_code;

   344         }

   345         fprintf(stderr, "Failed to read IDN: %s\n", strerror(errno));

   346         return -1;

   347     }

   348 

   349     *result_size = io.data_size;

   350     return 0;

   351 }

   352 

   353 /*****************************************************************************/

   354