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Detect desynchronization in HOTP authentication [duplicate]

In HOTP authentication, is there a way for a system to detect that the token has been desynchronized? If so how does it know that the OTP was generated from a desynchronized (but valid) token and is ...
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Is it considered insecure in an HOTP implementation to publicly provide the next counter?

I am working on a project that needs to securely authenticating one or more smartphone clients with a server running on a microcontroller so it has very limited resources. I have found plenty of ...