Hitec servo programming protocols: frames, transactions, the reply decoders and the driver interface. More...

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

Data Structures
struct	hitec_xfer_t
	One transaction. More...
struct	hitec_rx_byte_t
	One received byte. More...
struct	hitec_capture_t
	What the receiver took, in the order the bytes came. More...
struct	hitec_reply_t
	A decoded reply. More...
struct	hitec_driver_t
	A pin driver. More...

Macros
#define	HITEC_C_BIT_RATE 19200u
	Classic bit rate, in bit/s.
#define	HITEC_D_BIT_RATE 115200u
	D series bit rate, in bit/s.
#define	HITEC_C_FRAME_LEN 4u
	Bytes of a classic frame.
#define	HITEC_C_READ_EEPROM 0x61u
	Command bytes.
#define	HITEC_C_WRITE_EEPROM 0x62u
#define	HITEC_C_READ_RAM 0x63u
#define	HITEC_C_WRITE_RAM 0x64u
#define	HITEC_C_READ_POSITION 0x65u
#define	HITEC_C_MOVE 0x66u
#define	HITEC_C_FIRST 0x67u
#define	HITEC_C_ACK 0x2Bu
#define	HITEC_C_NAK 0x2Du
#define	HITEC_D_HEADER_REQUEST 0x96u
	D series frame layout: header bytes and frame lengths.
#define	HITEC_D_HEADER_ANSWER 0x69u
#define	HITEC_D_READ_LEN 5u
#define	HITEC_D_WRITE_LEN 7u
#define	HITEC_D_ANSWER_LEN 7u
#define	HITEC_D_DATA_LEN 2u
	The length byte of a write and of an answer: 2 data bytes.
#define	HITEC_TX_MAX 8u
#define	HITEC_GAP_MAX 6u
#define	HITEC_RX_MAX 16u
#define	HITEC_TIME_MAX_US 4000000u
	Longest lead, window and level time, 4s.
#define	HITEC_C_GAP_BITS 1u
	Idle bit times between two command bytes: 11 bit times start to start, 572.9us.
#define	HITEC_C_ARM_BITS 9u
	The receiver starts at the start of the last byte's stop bit, 9 bit times after the start of that byte.
#define	HITEC_C_REPLY_MIN_NS 494792u
	The first reply byte's start bit, from the start of the master's last byte.
#define	HITEC_C_REPLY_MAX_NS 1000000u
#define	HITEC_C_WINDOW_US 1500u
	Receive window after a command, waiting time.
#define	HITEC_C_REPLY_LEN 2u
	Bytes of a reply.
#define	HITEC_D_LEAD_US 88u
	The line driven low this long before the first start bit, as the HFP-30 does from a released line: 88us.
#define	HITEC_D_SETTLE_BITS 1u
	Released bit times between the last stop bit and the receiver's start.
#define	HITEC_D_ANSWER_MIN_NS 2000000u
	The answer's first start bit, from the end of the request's last stop bit.
#define	HITEC_D_ANSWER_MAX_NS 20000000u
#define	HITEC_D_WINDOW_US 25000u
	Receive window after a read, waiting time.
#define	HITEC_D_READ_RX 8u
	Bytes a read receives: the 7 of the answer and the byte 0x00 the D485HW sends after it.
#define	HITEC_NEXT_MIN_HALF_BITS 19u
	A byte of a reply starts 9.5 to 15 bit times after the start of the one before.
#define	HITEC_NEXT_MAX_HALF_BITS 30u

Enumerations
enum	hitec_family_t { HITEC_CLASSIC = 0 , HITEC_D = 1 }
	The two servo families. More...
enum	hitec_drive_t { HITEC_DRIVE_OPEN_DRAIN = 0 , HITEC_DRIVE_PUSH_PULL = 1 }
	How the master drives the line. More...
enum	hitec_kind_t { HITEC_XFER_SEND = 0 , HITEC_XFER_LISTEN , HITEC_XFER_LEVEL }
	The kind of a transaction. More...
enum	hitec_rx_t { HITEC_RX_OK = 0 , HITEC_RX_ERR_ARG , HITEC_RX_ERR_ABORTED , HITEC_RX_ERR_OVERFLOW , HITEC_RX_ERR_SILENT , HITEC_RX_ERR_EARLY , HITEC_RX_ERR_LATE , HITEC_RX_ERR_NAK , HITEC_RX_ERR_LENGTH , HITEC_RX_ERR_FRAMING , HITEC_RX_ERR_GAP , HITEC_RX_ERR_ACK , HITEC_RX_ERR_HEADER , HITEC_RX_ERR_ADDRESS , HITEC_RX_ERR_SUM }
	Result of a decoder. More...
enum	hitec_c_expect_t { HITEC_C_EXPECT_VALUE = 0 , HITEC_C_EXPECT_ACK , HITEC_C_EXPECT_WORD }
	The reply shape a classic command expects. More...

Functions
uint32_t	hitec_bit_rate (uint8_t family)
	Bit rate of `family` in bit/s; 0 for a family this module does not have.
uint32_t	hitec_bits_ns (uint8_t family, uint32_t bits)
	`bits` bit times of `family` in ns, rounded to nearest; 0 for an unknown family.
uint8_t	hitec_c_sum (uint8_t cmd, uint8_t p1, uint8_t p2)
	The byte that makes cmd p1 p2 sum sum to 0 modulo 256.
void	hitec_c_frame (uint8_t cmd, uint8_t p1, uint8_t p2, uint8_t out[HITEC_C_FRAME_LEN])
	The 4 bytes of a classic command.
bool	hitec_c_frame_ok (const uint8_t frame[HITEC_C_FRAME_LEN])
	True when the 4 bytes at `frame` sum to 0 modulo 256.
uint8_t	hitec_d_sum (const uint8_t *bytes, size_t n)
	The low byte of the sum of the `n` bytes at `bytes`.
void	hitec_d_read_frame (uint8_t id, uint8_t addr, uint8_t out[HITEC_D_READ_LEN])
	96 id addr 00 sum.
void	hitec_d_write_frame (uint8_t id, uint8_t addr, uint16_t value, uint8_t out[HITEC_D_WRITE_LEN])
	96 id addr 02 lo hi sum, `value` little endian.
bool	hitec_xfer_valid (const hitec_xfer_t *x)
	True when `x` is a transaction a driver runs: every field in its range, LISTEN with a window, LEVEL with a time.
void	hitec_c_xfer (uint8_t cmd, uint8_t p1, uint8_t p2, hitec_xfer_t *out)
	A command and its 2-byte reply: 4 bytes, HITEC_C_GAP_BITS between them, HITEC_C_WINDOW_US, 2 bytes.
void	hitec_d_read_xfer (uint8_t id, uint8_t addr, hitec_xfer_t *out)
	A read and its answer: lead, 5 bytes back to back, HITEC_D_WINDOW_US, HITEC_D_READ_RX bytes.
void	hitec_d_write_xfer (uint8_t id, uint8_t addr, uint16_t value, hitec_xfer_t *out)
	A write: lead, 7 bytes back to back, nothing received.
bool	hitec_listen_xfer (uint8_t family, uint32_t window_us, uint8_t max_rx, bool answer, uint8_t answer_byte, hitec_xfer_t *out)
	A LISTEN of `window_us` for up to `max_rx` bytes; with `answer` set the first byte is answered with `answer_byte`.
bool	hitec_level_xfer (uint8_t family, uint8_t level, uint32_t time_us, hitec_xfer_t *out)
	A LEVEL of `level` for `time_us`.
bool	hitec_c_expect_of (uint8_t cmd, hitec_c_expect_t *out)
	The reply `cmd` has.
hitec_rx_t	hitec_c_decode (const hitec_capture_t cap, hitec_c_expect_t expect, hitec_reply_t out)
	Decode a classic reply.
hitec_rx_t	hitec_d_decode (const hitec_capture_t cap, uint8_t addr, hitec_reply_t out)
	Decode a D series answer to a read of `addr`.
hitec_rx_t	hitec_listen_decode (const hitec_capture_t cap, uint8_t want, hitec_reply_t out)
	Decode a listen for the byte `want`, as the classic entry's +: abort, overflow, a byte at all, its stop bit, its value, no byte after it. delay_ns is the first byte's time from the start of the listen.
uint32_t	hitec_elapsed_us (uint32_t now, uint32_t since)
	Microseconds from `since` to `now` on a clock that wraps at 2^32.
bool	hitec_due (uint32_t now, uint32_t since, uint32_t span_us)
	True when `span_us` or more have passed from `since` to `now`, also across the wrap of the clock.

Detailed Description

Hitec servo programming protocols: frames, transactions, the reply decoders and the driver interface.

Implements the signal-wire programming protocols of Hitec servos. Hitec is a name or trademark of its owner; it is used here only to say which servos this module works with (README.md, "Legal notice and disclaimer").

Two wire families share one driver:

Classic, the HS-5xxx and HS-7xxx servos: 19 200bit/s, 8N1, least significant bit first, normal polarity (the line idles high, a start bit is low). The servo makes the high level; the master pulls low. A command is 4 bytes cmd p1 p2 sum whose sum is 0 modulo 256; the servo answers 2 bytes and starts its first one inside the stop bit of the master's last byte.
D series: 115 200bit/s, 8N1, least significant bit first, inverted (inside a frame the line rests low, a start bit is high). A write is 7 bytes 96 ID addr 02 lo hi sum, a read 5 bytes 96 ID addr 00 sum, the answer 7 bytes 69 ID addr 02 lo hi sum; the sum is the low byte of the sum of every byte after the header. A write is not answered.

This file has no hardware access. A transaction (hitec_xfer_t) says what to send and how long to listen; a driver puts it on the wire and hands back the received bytes with the time of each start bit (hitec_capture_t). The decoders check a capture against what the transaction asked for and give one result code per failed check.

The timings are measured on an HS-5645MG, an HS-7955TG and a D485HW, with the HPP-21 Plus and HFP-30 programmers, at a 1.4V threshold.

The module includes nothing outside the C standard headers and holds no global state.

SPDX-License-Identifier: MIT

Macro Definition Documentation

◆ HITEC_C_ACK

#define HITEC_C_ACK 0x2Bu

+

◆ HITEC_C_FIRST

#define HITEC_C_FIRST 0x67u

the first command; reply value, +

◆ HITEC_C_GAP_BITS

#define HITEC_C_GAP_BITS 1u

Idle bit times between two command bytes: 11 bit times start to start, 572.9us.

The HPP-21 Plus sends 572us start to start, the HFP-30 521us.

◆ HITEC_C_MOVE

#define HITEC_C_MOVE 0x66u

target high, low; reply + +

◆ HITEC_C_NAK

#define HITEC_C_NAK 0x2Du

-: described as the reply to a bad sum

◆ HITEC_C_READ_EEPROM

#define HITEC_C_READ_EEPROM 0x61u

Command bytes.

0x63 is described for the HS-5xxx and not seen on the wire; the others are measured. address; reply value, +

◆ HITEC_C_READ_POSITION

#define HITEC_C_READ_POSITION 0x65u

unused; reply high, low

◆ HITEC_C_READ_RAM

#define HITEC_C_READ_RAM 0x63u

address; reply value, +

◆ HITEC_C_REPLY_MIN_NS

#define HITEC_C_REPLY_MIN_NS 494792u

The first reply byte's start bit, from the start of the master's last byte.

Measured 508 to 517us after reads, up to 614us after writes and after the first read of a session; accepted 494.8us (the middle of the master's stop bit) to 1ms.

◆ HITEC_C_WRITE_EEPROM

#define HITEC_C_WRITE_EEPROM 0x62u

address, value; reply + +

◆ HITEC_C_WRITE_RAM

#define HITEC_C_WRITE_RAM 0x64u

address, value; reply + +

◆ HITEC_D_ANSWER_LEN

#define HITEC_D_ANSWER_LEN 7u

bytes of an answer

◆ HITEC_D_ANSWER_MIN_NS

#define HITEC_D_ANSWER_MIN_NS 2000000u

The answer's first start bit, from the end of the request's last stop bit.

Measured 5.9 to 6.5ms with the HFP-30, and 5.93 to 6.52ms over 153 reads by PRECHARGE (D485HW, 2026-10-20); 15.2ms is reported with another programmer. Accepted 2ms to 20ms.

◆ HITEC_D_HEADER_ANSWER

#define HITEC_D_HEADER_ANSWER 0x69u

first byte of an answer

◆ HITEC_D_HEADER_REQUEST

#define HITEC_D_HEADER_REQUEST 0x96u

D series frame layout: header bytes and frame lengths.

first byte of a request

◆ HITEC_D_READ_LEN

#define HITEC_D_READ_LEN 5u

bytes of a read request

◆ HITEC_D_WRITE_LEN

#define HITEC_D_WRITE_LEN 7u

bytes of a write request

◆ HITEC_GAP_MAX

#define HITEC_GAP_MAX 6u

idle bit times between two sent bytes

◆ HITEC_NEXT_MIN_HALF_BITS

#define HITEC_NEXT_MIN_HALF_BITS 19u

A byte of a reply starts 9.5 to 15 bit times after the start of the one before.

Measured: classic 516 to 528us (10 bit times are 520.8us), D series 86 to 87us (86.8us).

◆ HITEC_RX_MAX

#define HITEC_RX_MAX 16u

bytes one capture holds

◆ HITEC_TX_MAX

#define HITEC_TX_MAX 8u

bytes one transaction sends

Enumeration Type Documentation

◆ hitec_c_expect_t

enum hitec_c_expect_t

The reply shape a classic command expects.

Enumerator
HITEC_C_EXPECT_VALUE	value, +
HITEC_C_EXPECT_ACK	+ +
HITEC_C_EXPECT_WORD	high, low

◆ hitec_drive_t

enum hitec_drive_t

How the master drives the line.

Classic is open drain only.

Enumerator
HITEC_DRIVE_OPEN_DRAIN	The pad drives low and is released for high: classic toward the servo's high level, D series toward a pull-up.
HITEC_DRIVE_PUSH_PULL	D series only: the pad drives both levels while it sends.

◆ hitec_family_t

enum hitec_family_t

The two servo families.

Enumerator
HITEC_CLASSIC	HS-5xxx, HS-7xxx: 19 200bit/s, normal polarity
HITEC_D	D series: 115 200bit/s, inverted

◆ hitec_kind_t

enum hitec_kind_t

The kind of a transaction.

Enumerator
HITEC_XFER_SEND	Send 1 to HITEC_TX_MAX bytes, then receive.
HITEC_XFER_LISTEN	Receive only; the first byte may be answered with one byte.
HITEC_XFER_LEVEL	Hold the line at one level for a time, then release it.

◆ hitec_rx_t

enum hitec_rx_t

Result of a decoder.

One code per failed check, in the order the decoders check.

Enumerator
HITEC_RX_OK	every check passed
HITEC_RX_ERR_ARG	NULL, another family, an unknown expectation
HITEC_RX_ERR_ABORTED	the transaction was cut
HITEC_RX_ERR_OVERFLOW	the capture is not whole
HITEC_RX_ERR_SILENT	no byte
HITEC_RX_ERR_EARLY	the first byte before the accept window
HITEC_RX_ERR_LATE	the first byte after it
HITEC_RX_ERR_NAK	classic: - and nothing after it
HITEC_RX_ERR_LENGTH	fewer bytes than the reply has; classic: more
HITEC_RX_ERR_FRAMING	a byte of the reply with a bad stop bit
HITEC_RX_ERR_GAP	a byte of the reply too soon or too late after the one before
HITEC_RX_ERR_ACK	classic: no + where the reply has one
HITEC_RX_ERR_HEADER	D: not 0x69, or a length byte other than 2
HITEC_RX_ERR_ADDRESS	D: the answer of another register
HITEC_RX_ERR_SUM	D: the sum does not fit

Function Documentation

◆ hitec_bit_rate()

uint32_t hitec_bit_rate ( uint8_t family )

Bit rate of family in bit/s; 0 for a family this module does not have.

Parameters

family hitec_family_t value.

Returns: Bit rate in bit/s, or 0 for an unknown family.

◆ hitec_bits_ns()

uint32_t hitec_bits_ns	(	uint8_t	family,
		uint32_t	bits )

bits bit times of family in ns, rounded to nearest; 0 for an unknown family.

Parameters

family	hitec_family_t value.
bits	Number of bit times.

Returns: Duration in ns, rounded to nearest, or 0 for an unknown family.

◆ hitec_c_decode()

hitec_rx_t hitec_c_decode	(	const hitec_capture_t *	cap,
		hitec_c_expect_t	expect,
		hitec_reply_t *	out )

Decode a classic reply.

Checks in this order: the arguments, abort, overflow, a byte at all, the first byte's time (HITEC_C_REPLY_MIN_NS to HITEC_C_REPLY_MAX_NS), - alone, 2 bytes, both stop bits, the second byte's time, the + bytes. out is filled in every case as far as the checks went.

Parameters

cap	Capture to decode.
expect	Reply shape to check against.
out	Receives the decoded reply.

Returns: HITEC_RX_OK, or the code of the first failed check.

◆ hitec_c_expect_of()

bool hitec_c_expect_of	(	uint8_t	cmd,
		hitec_c_expect_t *	out )

The reply cmd has.

False for a command byte this module does not know.

Parameters

cmd	Command byte.
out	Receives the expected reply shape; may be NULL.

Returns: false for a command byte this module does not know.

◆ hitec_c_frame()

void hitec_c_frame	(	uint8_t	cmd,
		uint8_t	p1,
		uint8_t	p2,
		uint8_t	out[HITEC_C_FRAME_LEN] )

The 4 bytes of a classic command.

Parameters

cmd	Command byte.
p1	First parameter byte.
p2	Second parameter byte.
out	Receives the four bytes of the frame.

◆ hitec_c_frame_ok()

bool hitec_c_frame_ok ( const uint8_t frame[HITEC_C_FRAME_LEN] )

True when the 4 bytes at frame sum to 0 modulo 256.

Parameters

frame The four bytes to check.

Returns: true when they sum to 0 modulo 256.

◆ hitec_c_sum()

uint8_t hitec_c_sum	(	uint8_t	cmd,
		uint8_t	p1,
		uint8_t	p2 )

The byte that makes cmd p1 p2 sum sum to 0 modulo 256.

Parameters

cmd	Command byte.
p1	First parameter byte.
p2	Second parameter byte.

Returns: The check byte that makes the four bytes sum to 0 modulo 256.

◆ hitec_c_xfer()

void hitec_c_xfer	(	uint8_t	cmd,
		uint8_t	p1,
		uint8_t	p2,
		hitec_xfer_t *	out )

A command and its 2-byte reply: 4 bytes, HITEC_C_GAP_BITS between them, HITEC_C_WINDOW_US, 2 bytes.

Parameters

cmd	Command byte.
p1	First parameter byte.
p2	Second parameter byte.
out	Receives the transaction.

◆ hitec_d_decode()

hitec_rx_t hitec_d_decode	(	const hitec_capture_t *	cap,
		uint8_t	addr,
		hitec_reply_t *	out )

Decode a D series answer to a read of addr.

Checks in this order: the arguments, abort, overflow, a byte at all, the first byte's time (HITEC_D_ANSWER_MIN_NS to HITEC_D_ANSWER_MAX_NS), 7 bytes, their stop bits, their times, the header and length byte, the address, the sum. Bytes after the seventh are not checked: the D485HW sends 0x00 after every answer, and the release of the line reads as a byte with a bad stop bit. The ID byte is reported and not checked.

Parameters

cap	Capture to decode.
addr	Register address the read asked for.
out	Receives the decoded reply.

Returns: HITEC_RX_OK, or the code of the first failed check.

◆ hitec_d_read_frame()

void hitec_d_read_frame	(	uint8_t	id,
		uint8_t	addr,
		uint8_t	out[HITEC_D_READ_LEN] )

96 id addr 00 sum.

Parameters

id	Servo ID.
addr	Register address.
out	Receives the five bytes of the request.

◆ hitec_d_read_xfer()

void hitec_d_read_xfer	(	uint8_t	id,
		uint8_t	addr,
		hitec_xfer_t *	out )

A read and its answer: lead, 5 bytes back to back, HITEC_D_WINDOW_US, HITEC_D_READ_RX bytes.

Parameters

id	Servo ID.
addr	Register address.
out	Receives the transaction.

◆ hitec_d_sum()

uint8_t hitec_d_sum	(	const uint8_t *	bytes,
		size_t	n )

The low byte of the sum of the n bytes at bytes.

Parameters

bytes	Bytes to sum.
n	Number of bytes.

Returns: The low byte of the sum.

◆ hitec_d_write_frame()

void hitec_d_write_frame	(	uint8_t	id,
		uint8_t	addr,
		uint16_t	value,
		uint8_t	out[HITEC_D_WRITE_LEN] )

96 id addr 02 lo hi sum, value little endian.

Parameters

id	Servo ID.
addr	Register address.
value	Data word, sent little endian.
out	Receives the seven bytes of the request.

◆ hitec_d_write_xfer()

void hitec_d_write_xfer	(	uint8_t	id,
		uint8_t	addr,
		uint16_t	value,
		hitec_xfer_t *	out )

A write: lead, 7 bytes back to back, nothing received.

Parameters

id	Servo ID.
addr	Register address.
value	Data word, sent little endian.
out	Receives the transaction.

◆ hitec_due()

bool hitec_due	(	uint32_t	now,
		uint32_t	since,
		uint32_t	span_us )

True when span_us or more have passed from since to now, also across the wrap of the clock.

A span is shorter than 2^31us.

Parameters

now	Current time, in us.
since	Earlier time, in us.
span_us	Span to test, in us.

Returns: true when span_us or more have passed, also across the wrap of the clock.

◆ hitec_elapsed_us()

uint32_t hitec_elapsed_us	(	uint32_t	now,
		uint32_t	since )

Microseconds from since to now on a clock that wraps at 2^32.

Parameters

now	Current time, in us.
since	Earlier time, in us.

Returns: Microseconds from since to now, on a clock that wraps at 2^32.

◆ hitec_level_xfer()

bool hitec_level_xfer	(	uint8_t	family,
		uint8_t	level,
		uint32_t	time_us,
		hitec_xfer_t *	out )

A LEVEL of level for time_us.

False, and out untouched, when the result would not be valid.

Parameters

family	hitec_family_t value.
level	Line level to hold, 0 or 1.
time_us	Hold time, in us.
out	Receives the transaction; NULL returns false.

Returns: false when the result would not be valid.

◆ hitec_listen_decode()

hitec_rx_t hitec_listen_decode	(	const hitec_capture_t *	cap,
		uint8_t	want,
		hitec_reply_t *	out )

Decode a listen for the byte want, as the classic entry's +: abort, overflow, a byte at all, its stop bit, its value, no byte after it. delay_ns is the first byte's time from the start of the listen.

A listen for more bytes reads them from the capture.

Parameters

cap	Capture to decode.
want	Byte expected as the first received byte.
out	Receives the decoded reply.

Returns: HITEC_RX_OK, or the code of the first failed check.

◆ hitec_listen_xfer()

bool hitec_listen_xfer	(	uint8_t	family,
		uint32_t	window_us,
		uint8_t	max_rx,
		bool	answer,
		uint8_t	answer_byte,
		hitec_xfer_t *	out )

A LISTEN of window_us for up to max_rx bytes; with answer set the first byte is answered with answer_byte.

False, and out untouched, when the result would not be valid.

Parameters

family	hitec_family_t value.
window_us	Waiting time for a start bit, in us.
max_rx	Bytes to receive.
answer	true to answer the first received byte.
answer_byte	Byte sent as the answer.
out	Receives the transaction; NULL returns false.

Returns: false when the result would not be valid.

◆ hitec_xfer_valid()

bool hitec_xfer_valid ( const hitec_xfer_t * x )

True when x is a transaction a driver runs: every field in its range, LISTEN with a window, LEVEL with a time.

Whether the drive can make the level is the driver's check.

Parameters

x	Transaction to check; NULL returns false.

Returns: true when x is a transaction a driver runs.

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ HITEC_C_ACK

◆ HITEC_C_FIRST

◆ HITEC_C_GAP_BITS

◆ HITEC_C_MOVE

◆ HITEC_C_NAK

◆ HITEC_C_READ_EEPROM

◆ HITEC_C_READ_POSITION

◆ HITEC_C_READ_RAM

◆ HITEC_C_REPLY_MIN_NS

◆ HITEC_C_WRITE_EEPROM

◆ HITEC_C_WRITE_RAM

◆ HITEC_D_ANSWER_LEN

◆ HITEC_D_ANSWER_MIN_NS

◆ HITEC_D_HEADER_ANSWER

◆ HITEC_D_HEADER_REQUEST

◆ HITEC_D_READ_LEN

◆ HITEC_D_WRITE_LEN

◆ HITEC_GAP_MAX

◆ HITEC_NEXT_MIN_HALF_BITS

◆ HITEC_RX_MAX

◆ HITEC_TX_MAX

Enumeration Type Documentation

◆ hitec_c_expect_t

◆ hitec_drive_t

◆ hitec_family_t

◆ hitec_kind_t

◆ hitec_rx_t

Function Documentation

◆ hitec_bit_rate()

◆ hitec_bits_ns()

◆ hitec_c_decode()

◆ hitec_c_expect_of()

◆ hitec_c_frame()

◆ hitec_c_frame_ok()

◆ hitec_c_sum()

◆ hitec_c_xfer()

◆ hitec_d_decode()

◆ hitec_d_read_frame()

◆ hitec_d_read_xfer()

◆ hitec_d_sum()

◆ hitec_d_write_frame()

◆ hitec_d_write_xfer()

◆ hitec_due()

◆ hitec_elapsed_us()

◆ hitec_level_xfer()

◆ hitec_listen_decode()

◆ hitec_listen_xfer()

◆ hitec_xfer_valid()