+ mask = buf[0];
+ if (mask > 0x3f)
+ return -1;
+ pow = buf[1] & 0x07;
+ seq = buf[1] >> 5;
+
+ for (num = 0; num < N_SERVO; num++) {
+ if ((1<<num) & mask)
+ count++;
+ }
+ switch (count) {
+ case 1: if (len != 4) return -1; break;
+ case 2: if (len != 5) return -1; break;
+ case 3: if (len != 6) return -1; break;
+ case 4: if (len != 7) return -1; break;
+ case 5: if (len != 9) return -1; break;
+ case 6: if (len != 10) return -1; break;
+ default: return -1;
+ }
+
+ for (num = 0; ((1<<num) & mask) == 0; num++) {
+ if (num >= N_SERVO)
+ return 0;
+ }
+
+ val = buf[2];
+ val <<= 2;
+ val |= (buf[3] >> 6);
+
+ for (num++; ((1<<num) & mask) == 0; num++) {
+ if (num >= N_SERVO)
+ return 0;
+ }
+
+ val = buf[3] & 0x3f;
+ val <<= 4;
+ val |= (buf[4] >> 4);
+
+ for (num++; ((1<<num) & mask) == 0; num++) {
+ if (num >= N_SERVO)
+ return 0;
+ }
+
+ val = buf[4] & 0xf;
+ val <<= 6;
+ val |= (buf[5] >> 2);
+
+ for (num++; ((1<<num) & mask) == 0; num++) {
+ if (num >= N_SERVO)
+ return 0;
+ }
+
+ val = buf[5] & 0x3;
+ val <<= 8;
+ val |= (buf[6]);
+
+ for (num++; ((1<<num) & mask) == 0; num++) {
+ if (num >= N_SERVO)
+ return 0;
+ }
+
+ val = buf[7];
+ val <<= 2;
+ val |= (buf[8] >> 6);
+
+ for (num++; ((1<<num) & mask) == 0; num++) {
+ if (num >= N_SERVO)
+ return 0;
+ }
+
+ val = buf[8];
+ val <<= 4;
+ val |= (buf[9] >> 4);
+
+ return 0;
+}
+#endif