diff --git a/CommandStation-EX.ino b/CommandStation-EX.ino
index 3e601b1..4af71e5 100644
--- a/CommandStation-EX.ino
+++ b/CommandStation-EX.ino
@@ -52,6 +52,10 @@
 #include "DCCEX.h"
 #include "Display_Implementation.h"
 
+#ifdef ARDUINO_ARCH_ESP32
+  #include <ArduinoOTA.h>
+#endif // ARDUINO_ARCH_ESP32
+
 #ifdef CPU_TYPE_ERROR
 #error CANNOT COMPILE - DCC++ EX ONLY WORKS WITH THE ARCHITECTURES LISTED IN defines.h
 #endif
@@ -85,7 +89,7 @@ void setup()
   delay(STARTUP_DELAY);
 #endif
 
-// Initialise HAL layer before reading EEprom or setting up MotorDrivers 
+// Initialise HAL layer before reading EEprom or setting up MotorDrivers
   IODevice::begin();
 
   // As the setup of a motor shield may require a read of the current sense input from the ADC,
@@ -112,12 +116,15 @@ void setup()
   // ESP32 needs wifi on always
   PASSWDCHECK(WIFI_PASSWORD); // compile time check
   WifiESP::setup(WIFI_SSID, WIFI_PASSWORD, WIFI_HOSTNAME, IP_PORT, WIFI_CHANNEL, WIFI_FORCE_AP);
+  #if OTA_AUTO_INIT
+    Diag::OTA = true;
+  #endif // OTA_AUTO_INIT
 #endif // ARDUINO_ARCH_ESP32
 
 #if ETHERNET_ON
   EthernetInterface::setup();
 #endif // ETHERNET_ON
-  
+
   // Responsibility 3: Start the DCC engine.
   DCC::begin();
 
@@ -165,20 +172,64 @@ void loop()
   // Responsibility 1: Handle DCC background processes
   //                   (loco reminders and power checks)
   DCC::loop();
- 
+
   // Responsibility 2: handle any incoming commands on USB connection
   SerialManager::loop();
- 
+
   // Responsibility 3: Optionally handle any incoming WiFi traffic
 #ifndef ARDUINO_ARCH_ESP32
 #if WIFI_ON
   WifiInterface::loop();
- 
+
 #endif //WIFI_ON
 #else  //ARDUINO_ARCH_ESP32
 #ifndef WIFI_TASK_ON_CORE0
   WifiESP::loop();
 #endif
+  // Responsibility 4: Optionally handle Arduino OTA updates
+  if (Diag::OTA) {
+    static bool otaInitialised = false;
+    // Initialise OTA if not already done
+    if (!otaInitialised) {
+      ArduinoOTA.setHostname(WIFI_HOSTNAME);
+      // Prevent locos from moving during OTA
+      ArduinoOTA.onStart([]() {
+        // Emergency stop all locos
+        DCC::setThrottle(0,1,1);
+        // Disable tracks power
+        TrackManager::setMainPower(POWERMODE::OFF);
+        TrackManager::setProgPower(POWERMODE::OFF);
+        // Broadcast power status
+        CommandDistributor::broadcastPower();
+        DISPLAY_START (
+          LCD(0,F("OTA update"));
+          LCD(1,F("In progress..."));
+        );
+      });
+      ArduinoOTA.onEnd([]() {
+        DISPLAY_START (
+          LCD(0,F("OTA update"));
+          LCD(1,F("Complete"));
+        );
+      });
+      ArduinoOTA.onError([](ota_error_t error) {
+        DISPLAY_START (
+          LCD(0,F("OTA update"));
+          LCD(1,F("Error: %d"), error);
+        );
+      });
+      // Set OTA password if defined
+      #ifdef OTA_AUTH
+        ArduinoOTA.setPassword(OTA_AUTH);
+      #endif // OTA_AUTH
+      ArduinoOTA.begin();
+      otaInitialised = true;
+    }
+    // Handle OTA if initialised
+    else {
+      ArduinoOTA.handle();
+    }
+  }
 #endif //ARDUINO_ARCH_ESP32
 #if ETHERNET_ON
   EthernetInterface::loop();
diff --git a/DCCEXParser.cpp b/DCCEXParser.cpp
index 6bec5fb..bec08b6 100644
--- a/DCCEXParser.cpp
+++ b/DCCEXParser.cpp
@@ -9,7 +9,7 @@
  *  © 2020-2021 Chris Harlow
  *  © 2022 Colin Murdoch
  *  All rights reserved.
- *  
+ *
  *  This file is part of CommandStation-EX
  *
  *  This is free software: you can redistribute it and/or modify
@@ -68,10 +68,10 @@ Once a new OPCODE is decided upon, update this list.
   K, Reserved for future use - Potentially Railcom
   l, Loco speedbyte/function map broadcast
   L, Reserved for LCC interface (implemented in EXRAIL)
-  m, message to throttles broadcast 
+  m, message to throttles broadcast
   M, Write DCC packet
   n, Reserved for SensorCam
-  N, Reserved for Sensorcam 
+  N, Reserved for Sensorcam
   o, Neopixel driver (see also IO_NeoPixel.h)
   O, Output broadcast
   p, Broadcast power state
@@ -92,7 +92,7 @@ Once a new OPCODE is decided upon, update this list.
   W, Write CV
   x,
   X, Invalid command response
-  y, 
+  y,
   Y, Output broadcast
   z, Direct output
   Z, Output configuration/control
@@ -123,13 +123,13 @@ Once a new OPCODE is decided upon, update this list.
 #endif
 
 // This macro can't be created easily as a portable function because the
-// flashlist requires a far pointer for high flash access. 
+// flashlist requires a far pointer for high flash access.
 #define SENDFLASHLIST(stream,flashList)                 \
     for (int16_t i=0;;i+=sizeof(flashList[0])) {                            \
         int16_t value=GETHIGHFLASHW(flashList,i);       \
         if (value==INT16_MAX) break;                            \
         StringFormatter::send(stream,F(" %d"),value);	\
-    }                                   
+    }
 
 int16_t DCCEXParser::stashP[MAX_COMMAND_PARAMS];
 bool DCCEXParser::stashBusy;
@@ -255,10 +255,10 @@ void DCCEXParser::setAtCommandCallback(AT_COMMAND_CALLBACK callback)
     atCommandCallback = callback;
 }
 
-// Parse an F() string 
+// Parse an F() string
 void DCCEXParser::parse(const FSH * cmd) {
       DIAG(F("SETUP(\"%S\")"),cmd);
-      int size=STRLEN_P((char *)cmd)+1; 
+      int size=STRLEN_P((char *)cmd)+1;
       char buffer[size];
       STRCPY_P(buffer,(char *)cmd);
       parse(&USB_SERIAL,(byte *)buffer,NULL);
@@ -376,7 +376,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         break;
 
     case 'a': // ACCESSORY <a ADDRESS SUBADDRESS ACTIVATE [ONOFF]> or <a LINEARADDRESS ACTIVATE>
-        { 
+        {
           int address;
           byte subaddress;
           byte activep;
@@ -402,7 +402,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
               onoff=p[3];
           }
           else break; // invalid no of parameters
-          
+
           if (
 	      ((address & 0x01FF) != address)      // invalid address (limit 9 bits)
            || ((subaddress & 0x03) != subaddress)  // invalid subaddress (limit 2 bits)
@@ -417,14 +417,14 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 #endif
         }
         return;
-    
-    case 'A': // EXTENDED ACCESSORY <A address value> 
-        // Note: if this happens to match a defined EXRAIL 
+
+    case 'A': // EXTENDED ACCESSORY <A address value>
+        // Note: if this happens to match a defined EXRAIL
         // DCCX_SIGNAL, then EXRAIL will have intercepted
-        // this command alrerady.   
+        // this command alrerady.
         if (params==2 && DCC::setExtendedAccessory(p[0],p[1])) return;
         break;
-     
+
     case 'T': // TURNOUT  <T ...>
         if (parseT(stream, params, p))
             return;
@@ -433,22 +433,22 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 #ifndef IO_NO_HAL
     case 'o':  // Neopixel pin manipulation
         if (p[0]==0) break;
-        {  
+        {
           VPIN vpin=p[0]>0 ? p[0]:-p[0];
           bool setON=p[0]>0;
-          if (params==1) {  // <o [-]vpin> 
+          if (params==1) {  // <o [-]vpin>
             IODevice::write(vpin,setON);
             return;
           }
-          if (params==2) {  // <o [-]vpin count> 
+          if (params==2) {  // <o [-]vpin count>
             IODevice::writeRange(vpin,setON,p[1]);
             return;
           }
           if (params==4 || params==5) { // <z [-]vpin r g b [count]>
-             auto count=p[4]?p[4]:1;  
-             if (p[1]<0 || p[1]>0xFF) break;  
-            if (p[2]<0 || p[2]>0xFF) break;  
-            if (p[3]<0 || p[3]>0xFF) break;  
+             auto count=p[4]?p[4]:1;
+             if (p[1]<0 || p[1]>0xFF) break;
+            if (p[2]<0 || p[2]>0xFF) break;
+            if (p[3]<0 || p[3]>0xFF) break;
             // strange parameter mangling... see IO_NeoPixel.h NeoPixel::_writeAnalogue
             int colour_RG=(p[1]<<8)  | p[2];
             uint16_t colour_B=p[3];
@@ -457,21 +457,21 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             }
         }
         break;
-#endif        
+#endif
 
   case 'z':  // direct pin manipulation
-        if (p[0]==0) break; 
-        if (params==1) {  // <z vpin | -vpin> 
+        if (p[0]==0) break;
+        if (params==1) {  // <z vpin | -vpin>
             if (p[0]>0) IODevice::write(p[0],HIGH);
             else IODevice::write(-p[0],LOW);
             return;
         }
-        if (params>=2 && params<=4) { // <z vpin analog profile duration> 
-            // unused params default to 0           
+        if (params>=2 && params<=4) { // <z vpin analog profile duration>
+            // unused params default to 0
             IODevice::writeAnalogue(p[0],p[1],p[2],p[3]);
             return;
         }
-        break; 
+        break;
 
     case 'Z': // OUTPUT <Z ...>
         if (parseZ(stream, params, p))
@@ -511,10 +511,10 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             packet[i]=(byte)p[i+1];
             if (Diag::CMD) DIAG(F("packet[%d]=%d (0x%x)"), i, packet[i], packet[i]);
           }
-          (opcode=='M'?DCCWaveform::mainTrack:DCCWaveform::progTrack).schedulePacket(packet,params,3);  
+          (opcode=='M'?DCCWaveform::mainTrack:DCCWaveform::progTrack).schedulePacket(packet,params,3);
         }
         return;
-        
+
 #ifndef DISABLE_PROG
     case 'W': // WRITE CV ON PROG <W CV VALUE CALLBACKNUM CALLBACKSUB>
         if (!stashCallback(stream, p, ringStream))
@@ -525,7 +525,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             DCC::writeCVByte(p[0], p[1], callback_W4);
         else if ((params==2 || params==3 ) && p[0]=="CONSIST"_hk ) {
             DCC::setConsistId(p[1],p[2]=="REVERSE"_hk,callback_Wconsist);
-        }    
+        }
         else if (params == 2)  // WRITE CV ON PROG <W CV VALUE>
             DCC::writeCVByte(p[0], p[1], callback_W);
 	else
@@ -610,10 +610,10 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 	    else break; // will reply <X>
 	  }
 	  //TrackManager::streamTrackState(NULL,t);
-          
+
 	  return;
 	}
-            
+
     case '0': // POWEROFF <0 [MAIN | PROG] >
         {
 	  if (params > 1) break;
@@ -664,7 +664,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         CommandDistributor::broadcastPower(); // <s> is the only "get power status" command we have
         Turnout::printAll(stream); //send all Turnout states
         Sensor::printAll(stream);  //send all Sensor  states
-        return;       
+        return;
 
 #ifndef DISABLE_EEPROM
     case 'E': // STORE EPROM <E>
@@ -719,12 +719,12 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         return;
 
     case 'F': // New command to call the new Loco Function API <F cab func 1|0>
-        if(params!=3) break; 
-        
+        if(params!=3) break;
+
         if (p[1]=="DCFREQ"_hk) { // <F cab DCFREQ 0..3>
           if (p[2]<0 || p[2]>3) break;
           DCC::setDCFreq(p[0],p[2]);
-          return;    
+          return;
         }
 
         if (Diag::CMD)
@@ -740,7 +740,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
           return;
         }
         break;
-#endif 
+#endif
 
     case 'J' : // throttle info access
         {
@@ -756,29 +756,29 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                     }
                     CommandDistributor::setClockTime(p[1], p[2], 1);
                     return;
-                
+
                 case "G"_hk: // <JG> current gauge limits
                     if (params>1) break;
-                    TrackManager::reportGauges(stream);   // <g limit...limit>     
+                    TrackManager::reportGauges(stream);   // <g limit...limit>
                     return;
-                
+
                 case "I"_hk: // <JI> current values
                     if (params>1) break;
-                    TrackManager::reportCurrent(stream);   // <g limit...limit>     
+                    TrackManager::reportCurrent(stream);   // <g limit...limit>
                     return;
 
                 case "A"_hk: // <JA> intercepted by EXRAIL// <JA> returns automations/routes
                     if (params!=1) break; // <JA>
                     StringFormatter::send(stream, F("<jA>\n"));
                     return;
- 
+
                 case "M"_hk: // <JM> intercepted by EXRAIL
                     if (params>1) break; // invalid cant do
                     // <JM> requests stash size so say none.
-                    StringFormatter::send(stream,F("<jM 0>\n")); 
+                    StringFormatter::send(stream,F("<jM 0>\n"));
                     return;
- 
-            case "R"_hk: // <JR> returns rosters 
+
+            case "R"_hk: // <JR> returns rosters
                 StringFormatter::send(stream, F("<jR"));
 #ifdef EXRAIL_ACTIVE
                 if (params==1) {
@@ -791,17 +791,17 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                     auto functionNames= RMFT2::getRosterFunctions(id);
                     if (!functionNames) functionNames=RMFT2::getRosterFunctions(0);
                     if (!functionNames) functionNames=F("");
-                    StringFormatter::send(stream,F(" %d \"%S\" \"%S\""), 
+                    StringFormatter::send(stream,F(" %d \"%S\" \"%S\""),
 					                            id, rosterName, functionNames);
                 }
-#endif          
-                StringFormatter::send(stream, F(">\n"));      
-                return; 
-            case "T"_hk: // <JT> returns turnout list 
+#endif
+                StringFormatter::send(stream, F(">\n"));
+                return;
+            case "T"_hk: // <JT> returns turnout list
                 StringFormatter::send(stream, F("<jT"));
                 if (params==1) { // <JT>
-                    for ( Turnout * t=Turnout::first(); t; t=t->next()) { 
-                        if (t->isHidden()) continue;          
+                    for ( Turnout * t=Turnout::first(); t; t=t->next()) {
+                        if (t->isHidden()) continue;
                         StringFormatter::send(stream, F(" %d"),t->getId());
                     }
                 }
@@ -827,8 +827,8 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             case "O"_hk: // <JO returns turntable list
                 StringFormatter::send(stream, F("<jO"));
                 if (params==1) { // <JO>
-                    for (Turntable * tto=Turntable::first(); tto; tto=tto->next()) { 
-                        if (tto->isHidden()) continue;          
+                    for (Turntable * tto=Turntable::first(); tto; tto=tto->next()) {
+                        if (tto->isHidden()) continue;
                         StringFormatter::send(stream, F(" %d"),tto->getId());
                     }
                     StringFormatter::send(stream, F(">\n"));
@@ -873,7 +873,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                 }
                 return;
 #endif
-            default: break;    
+            default: break;
             }  // switch(p[1])
         break; // case J
         }
@@ -892,7 +892,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 #endif
     case '/': // implemented in EXRAIL parser
     case 'L': // LCC interface implemented in EXRAIL parser
-        break; // Will <X> if not intercepted by EXRAIL 
+        break; // Will <X> if not intercepted by EXRAIL
 
 #ifndef DISABLE_VDPY
     case '@': // JMRI saying "give me virtual LCD msgs"
@@ -900,7 +900,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         StringFormatter::send(stream,
             F("<@ 0 0 \"DCC-EX v" VERSION "\">\n"
                "<@ 0 1 \"Lic GPLv3\">\n"));
-        return; 
+        return;
 #endif
     default: //anything else will diagnose and drop out to <X>
       if (opcode >= ' ' && opcode <= '~') {
@@ -923,7 +923,7 @@ bool DCCEXParser::parseZ(Print *stream, int16_t params, int16_t p[])
 
     switch (params)
     {
-    
+
     case 2: // <Z ID ACTIVATE>
     {
         Output *o = Output::get(p[0]);
@@ -979,14 +979,14 @@ bool DCCEXParser::parsef(Print *stream, int16_t params, int16_t p[])
 	return (funcmap(p[0], p[1], 5, 8));
       else
 	return (funcmap(p[0], p[1], 9, 12));
-    } 
+    }
   }
   if (params == 3) {
     if (p[1] == 222) {
       return (funcmap(p[0], p[2], 13, 20));
     } else if (p[1] == 223) {
       return (funcmap(p[0], p[2], 21, 28));
-    } 
+    }
   }
   (void)stream; // NO RESPONSE
   return false;
@@ -1015,7 +1015,7 @@ bool DCCEXParser::parseT(Print *stream, int16_t params, int16_t p[])
         StringFormatter::send(stream, F("<O>\n"));
         return true;
 
-    case 2: // <T id 0|1|T|C> 
+    case 2: // <T id 0|1|T|C>
         {
           bool state = false;
           switch (p[1]) {
@@ -1048,10 +1048,10 @@ bool DCCEXParser::parseT(Print *stream, int16_t params, int16_t p[])
       if (params == 6 && p[1] == "SERVO"_hk) { // <T id SERVO n n n n>
         if (!ServoTurnout::create(p[0], (VPIN)p[2], (uint16_t)p[3], (uint16_t)p[4], (uint8_t)p[5]))
           return false;
-      } else 
+      } else
       if (params == 3 && p[1] == "VPIN"_hk) { // <T id VPIN n>
         if (!VpinTurnout::create(p[0], p[2])) return false;
-      } else 
+      } else
       if (params >= 3 && p[1] == "DCC"_hk) {
         // <T id DCC addr subadd>   0<=addr<=511, 0<=subadd<=3 (like <a> command).<T>
         if (params==4 && p[2]>=0 && p[2]<512 && p[3]>=0 && p[3]<4) { // <T id DCC n m>
@@ -1061,14 +1061,14 @@ bool DCCEXParser::parseT(Print *stream, int16_t params, int16_t p[])
           if (!DCCTurnout::create(p[0], (p[2]-1)/4+1, (p[2]-1)%4)) return false;
         } else
           return false;
-      } else 
+      } else
       if (params==3) { // legacy <T id addr subadd> for DCC accessory
         if (p[1]>=0 && p[1]<512 && p[2]>=0 && p[2]<4) {
           if (!DCCTurnout::create(p[0], p[1], p[2])) return false;
         } else
           return false;
-      } 
-      else 
+      }
+      else
       if (params==4) { // legacy <T id n n n> for Servo
         if (!ServoTurnout::create(p[0], (VPIN)p[1], (uint16_t)p[2], (uint16_t)p[3], 1)) return false;
       } else
@@ -1154,10 +1154,10 @@ bool DCCEXParser::parseC(Print *stream, int16_t params, int16_t p[]) {
                      break;
                 default:
                  return false;
-            }              
+            }
         DIAG(F("Railcom %S")
             ,DCCWaveform::setRailcom(on,debug)?F("ON"):F("OFF"));
-        return true;     
+        return true;
         }
 #endif
 #ifndef DISABLE_PROG
@@ -1187,7 +1187,7 @@ bool DCCEXParser::parseC(Print *stream, int16_t params, int16_t p[]) {
 	    }
 	} else {
       bool onOff = (params > 0) && (p[1] == 1 || p[1] == "ON"_hk); // dont care if other stuff or missing... just means off
-    
+
 	  DIAG(F("Ack diag %S"), onOff ? F("on") : F("off"));
 	  Diag::ACK = onOff;
 	}
@@ -1252,8 +1252,8 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         return true;
 
 #if !defined(IO_NO_HAL)
-    case "HAL"_hk: 
-        if (p[1] == "SHOW"_hk) 
+    case "HAL"_hk:
+        if (p[1] == "SHOW"_hk)
           IODevice::DumpAll();
         else if (p[1] == "RESET"_hk)
           IODevice::reset();
@@ -1264,6 +1264,11 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         IODevice::writeAnalogue(p[1], p[2], params>3 ? p[3] : 0);
         return true;
 
+    case "OTA"_hk:    // <D OTA ON/OFF>
+        Diag::OTA = onOff;
+        DIAG(F("OTA=%S"), onOff ? F("ON") : F("OFF"));
+        return true;
+
     default: // invalid/unknown
         return parseC(stream, params, p);
     }
@@ -1288,7 +1293,7 @@ bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
         return Turntable::printAll(stream);
 
     case 1: // <I id> broadcast type and current position
-        {    
+        {
             Turntable *tto = Turntable::get(p[0]);
             if (tto) {
                 bool type = tto->isEXTT();
@@ -1299,7 +1304,7 @@ bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
             }
         }
         return true;
-    
+
     case 2: // <I id position> - rotate a DCC turntable
         {
             Turntable *tto = Turntable::get(p[0]);
@@ -1327,7 +1332,7 @@ bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
             }
         }
         return true;
-    
+
     case 4: // <I id EXTT vpin home> create an EXTT turntable
         {
             Turntable *tto = Turntable::get(p[0]);
@@ -1342,7 +1347,7 @@ bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
             }
         }
         return true;
-    
+
     case 5: // <I id ADD position value angle> add a position
         {
             Turntable *tto = Turntable::get(p[0]);
@@ -1356,7 +1361,7 @@ bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
             }
         }
         return true;
-    
+
     default:    // Anything else is invalid
         return false;
     }
@@ -1405,7 +1410,7 @@ void DCCEXParser::callback_W4(int16_t result)
 
 void DCCEXParser::callback_B(int16_t result)
 {
-    StringFormatter::send(getAsyncReplyStream(), 
+    StringFormatter::send(getAsyncReplyStream(),
           F("<r%d|%d|%d %d %d>\n"), stashP[3], stashP[4], stashP[0], stashP[1], result == 1 ? stashP[2] : -1);
     commitAsyncReplyStream();
 }
diff --git a/StringFormatter.cpp b/StringFormatter.cpp
index 192e1cc..58ecf3a 100644
--- a/StringFormatter.cpp
+++ b/StringFormatter.cpp
@@ -1,6 +1,6 @@
 /*
  *  © 2020, Chris Harlow. All rights reserved.
- *  
+ *
  *  This file is part of Asbelos DCC API
  *
  *  This is free software: you can redistribute it and/or modify
@@ -27,10 +27,11 @@ bool Diag::WIFI=false;
 bool Diag::WITHROTTLE=false;
 bool Diag::ETHERNET=false;
 bool Diag::LCN=false;
+bool Diag::OTA=false;
+
 
- 
 void StringFormatter::diag( const FSH* input...) {
- USB_SERIAL.print(F("<* "));   
+ USB_SERIAL.print(F("<* "));
   va_list args;
   va_start(args, input);
   send2(&USB_SERIAL,input,args);
@@ -52,24 +53,24 @@ void StringFormatter::lcd(byte row, const FSH* input...) {
     send2(&USB_SERIAL,input,args);
     send(&USB_SERIAL,F(" *>\n"));
   }
-  
+
 #ifndef DISABLE_VDPY
-  // send to virtual LCD collector (if any) 
+  // send to virtual LCD collector (if any)
   if (virtualLCD) {
     va_start(args, input);
     send2(virtualLCD,input,args);
     CommandDistributor::commitVirtualLCDSerial();
   }
 #endif
-  DisplayInterface::setRow(row);    
+  DisplayInterface::setRow(row);
   va_start(args, input);
   send2(DisplayInterface::getDisplayHandler(),input,args);
 }
 
 void StringFormatter::lcd2(uint8_t display, byte row, const FSH* input...) {
   va_list args;
-  
-   // send to virtual LCD collector (if any) 
+
+   // send to virtual LCD collector (if any)
 #ifndef DISABLE_VDPY
   Print * virtualLCD=CommandDistributor::getVirtualLCDSerial(display,row);
   if (virtualLCD) {
@@ -79,7 +80,7 @@ void StringFormatter::lcd2(uint8_t display, byte row, const FSH* input...) {
   }
 #endif
 
-  DisplayInterface::setRow(display, row);    
+  DisplayInterface::setRow(display, row);
   va_start(args, input);
   send2(DisplayInterface::getDisplayHandler(),input,args);
 }
@@ -97,7 +98,7 @@ void StringFormatter::send(Print & stream, const FSH* input...) {
 }
 
 void StringFormatter::send2(Print * stream,const FSH* format, va_list args) {
-    
+
   // thanks to Jan Turoň  https://arduino.stackexchange.com/questions/56517/formatting-strings-in-arduino-for-output
 
   char* flash=(char*)format;
@@ -108,9 +109,9 @@ void StringFormatter::send2(Print * stream,const FSH* format, va_list args) {
 
     bool formatContinues=false;
     byte formatWidth=0;
-    bool formatLeft=false; 
+    bool formatLeft=false;
   do {
-    
+
     formatContinues=false;
     i++;
     c=GETFLASH(flash+i);
@@ -121,16 +122,16 @@ void StringFormatter::send2(Print * stream,const FSH* format, va_list args) {
       case 'e': printEscapes(stream,va_arg(args, char*)); break;
       case 'E': printEscapes(stream,(const FSH*)va_arg(args, char*)); break;
       case 'S':
-      { 
+      {
         const FSH*  flash= (const FSH*)va_arg(args, char*);
 
 #if WIFI_ON | ETHERNET_ON
         // RingStream has special logic to handle flash strings
         // but is not implemented unless wifi or ethernet are enabled.
-        // The define prevents RingStream code being added unnecessariliy.        
+        // The define prevents RingStream code being added unnecessariliy.
         if (stream->availableForWrite()==RingStream::THIS_IS_A_RINGSTREAM)
               ((RingStream *)stream)->printFlash(flash);
-              else 
+              else
 #endif
         stream->print(flash);
         break;
@@ -165,20 +166,20 @@ void StringFormatter::send2(Print * stream,const FSH* format, va_list args) {
       break;
       //case 'f': stream->print(va_arg(args, double), 2); break;
       //format width prefix
-      case '-': 
+      case '-':
             formatLeft=true;
             formatContinues=true;
-            break; 
-      case '0': 
-      case '1': 
-      case '2': 
-      case '3': 
-      case '4': 
-      case '5': 
-      case '6': 
-      case '7': 
-      case '8': 
-      case '9': 
+            break;
+      case '0':
+      case '1':
+      case '2':
+      case '3':
+      case '4':
+      case '5':
+      case '6':
+      case '7':
+      case '8':
+      case '9':
             formatWidth=formatWidth * 10 + (c-'0');
             formatContinues=true;
             break;
@@ -198,7 +199,7 @@ void StringFormatter::printEscapes(Print * stream,char * input) {
 }
 
 void StringFormatter::printEscapes(Print * stream, const FSH * input) {
- 
+
  if (!stream) return;
  char* flash=(char*)input;
  for(int i=0; ; ++i) {
@@ -215,35 +216,35 @@ void StringFormatter::printEscape( char c) {
 void StringFormatter::printEscape(Print * stream, char c) {
   if (!stream) return;
   switch(c) {
-     case '\n': stream->print(F("\\n")); break; 
-     case '\r': stream->print(F("\\r")); break; 
-     case '\0': stream->print(F("\\0")); return; 
+     case '\n': stream->print(F("\\n")); break;
+     case '\r': stream->print(F("\\r")); break;
+     case '\0': stream->print(F("\\0")); return;
      case '\t': stream->print(F("\\t")); break;
      case '\\': stream->print(F("\\\\")); break;
      default: stream->write(c);
   }
  }
 
- 
+
 void StringFormatter::printPadded(Print* stream, long value, byte width, bool formatLeft) {
   if (width==0) {
     stream->print(value, DEC);
     return;
   }
-  
+
     int digits=(value <= 0)? 1: 0;  // zero and negative need extra digot
     long v=value;
     while (v) {
         v /= 10;
         digits++;
     }
-    
+
     if (formatLeft) stream->print(value, DEC);
     while(digits<width) {
       stream->print(' ');
       digits++;
     }
-    if (!formatLeft) stream->print(value, DEC);    
+    if (!formatLeft) stream->print(value, DEC);
   }
 
 // printHex prints the full 2 byte hex with leading zeros, unlike print(value,HEX)
diff --git a/StringFormatter.h b/StringFormatter.h
index 25d15e2..8cc0770 100644
--- a/StringFormatter.h
+++ b/StringFormatter.h
@@ -1,6 +1,6 @@
 /*
  *  © 2020, Chris Harlow. All rights reserved.
- *  
+ *
  *  This file is part of Asbelos DCC API
  *
  *  This is free software: you can redistribute it and/or modify
@@ -30,7 +30,7 @@ class Diag {
   static bool WITHROTTLE;
   static bool ETHERNET;
   static bool LCN;
-  
+  static bool OTA;
 };
 
 class StringFormatter
@@ -38,7 +38,7 @@ class StringFormatter
   public:
     static void send(Print * serial, const FSH* input...);
     static void send(Print & serial, const FSH* input...);
-    
+
     static void printEscapes(Print * serial,char * input);
     static void printEscapes(Print * serial,const FSH* input);
     static void printEscape(Print * serial, char c);
@@ -51,7 +51,7 @@ class StringFormatter
     static void printEscape( char c);
     static void printHex(Print * stream,uint16_t value);
 
-    private: 
+    private:
     static void send2(Print * serial, const FSH* input,va_list args);
     static void printPadded(Print* stream, long value, byte width, bool formatLeft);
 };
diff --git a/config.example.h b/config.example.h
index 6aba226..afdac46 100644
--- a/config.example.h
+++ b/config.example.h
@@ -5,7 +5,7 @@
  *  © 2020-2021 Fred Decker
  *  © 2020-2021 Chris Harlow
  *  © 2023 Nathan Kellenicki
- *  
+ *
  *  This file is part of CommandStation-EX
  *
  *  This is free software: you can redistribute it and/or modify
@@ -32,7 +32,7 @@ The configuration file for DCC-EX Command Station
 // If you want to add your own motor driver definition(s), add them here
 //   For example MY_SHIELD with display name "MINE":
 //   (remove comment start and end marker if you want to edit and use that)
-/* 
+/*
 #define MY_SHIELD F("MINE"), \
  new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 5.08, 3000, A4), \
  new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 5.08, 1500, A5)
@@ -95,7 +95,7 @@ The configuration file for DCC-EX Command Station
 //#define DONT_TOUCH_WIFI_CONF
 //
 // WIFI_SSID is the network name IF you want to use your existing home network.
-// Do NOT change this if you want to use the WiFi in Access Point (AP) mode. 
+// Do NOT change this if you want to use the WiFi in Access Point (AP) mode.
 //
 // If you do NOT set the WIFI_SSID and do NOT set the WIFI_PASSWORD,
 // then the WiFi chip will first try to connect to the previously
@@ -111,7 +111,7 @@ The configuration file for DCC-EX Command Station
 //
 // WIFI_PASSWORD is the network password for your home network or if
 // you want to change the password from default AP mode password
-// to the AP password you want. 
+// to the AP password you want.
 // Your password may not contain ``"'' (double quote, ASCII 0x22).
 #define WIFI_PASSWORD "Your network passwd"
 //
@@ -128,6 +128,21 @@ The configuration file for DCC-EX Command Station
 // true. Otherwise it is assumed that you'd like to connect to an existing network
 // with that SSID.
 #define WIFI_FORCE_AP false
+//
+// OTA_AUTO_INIT: Set this to true if you want OTA updates to be initialized
+// automatically upon startup. If set to false, OTA updates will remain
+// unavailable until the "<C OTA 1>" command is executed.
+// Please note that this feature requires the use of ARDUINO_ARCH_ESP32 as your board.
+#define OTA_AUTO_INIT false
+//
+// OTA_AUTH: Set this to your desired password if you wish to secure OTA updates.
+// If not set, OTA updates will be password-free.
+// Note: Upon modifying the OTA password, ensure to update the "upload_flags → --auth"
+// in the relevant environment within the platformio.ini file.
+// To deactivate OTA authorization, comment out the line below and comment out
+// the "upload_flags" line in the platformio.ini file.
+// #define OTA_AUTH "dccex-ota"
+
 
 /////////////////////////////////////////////////////////////////////////////////////
 //
@@ -194,7 +209,7 @@ The configuration file for DCC-EX Command Station
 // If you do not need programming capability, you can disable all programming related
 // commands. You might want to do that if you are using an Arduino UNO and still want
 // to use EXRAIL automation, as the Uno is lacking in RAM and Flash to run both.
-// 
+//
 // Note this disables all programming functionality, including EXRAIL.
 //
 // #define DISABLE_PROG
@@ -228,9 +243,9 @@ The configuration file for DCC-EX Command Station
 // REDEFINE WHERE SHORT/LONG ADDR break is. According to NMRA the last short address
 // is 127 and the first long address is 128. There are manufacturers which have
 // another view. Lenz CS for example have considered addresses long from 100. If
-// you want to change to that mode, do 
+// you want to change to that mode, do
 //#define HIGHEST_SHORT_ADDR 99
-// If you want to run all your locos addressed long format, you could even do a 
+// If you want to run all your locos addressed long format, you could even do a
 //#define HIGHEST_SHORT_ADDR 0
 // We do not support to use the same address, for example 100(long) and 100(short)
 // at the same time, there must be a border.
@@ -249,7 +264,7 @@ The configuration file for DCC-EX Command Station
 //
 // According to norm RCN-213 a DCC packet with a 1 is closed/straight
 // and one with a 0 is thrown/diverging.  In DCC++ Classic, and in previous
-// versions of DCC++EX, a turnout throw command was implemented in the packet as 
+// versions of DCC++EX, a turnout throw command was implemented in the packet as
 // '1' and a close command as '0'. The #define below makes the states
 // match with the norm.  But we don't want to cause havoc on existent layouts,
 // so we define this only for new installations. If you don't want this,
@@ -268,7 +283,7 @@ The configuration file for DCC-EX Command Station
 // you can use this to reverse the sense of all accessory commmands sent
 // over DCC++. This #define likewise inverts the behaviour of the <a> command
 // for triggering DCC Accessory Decoders, so that <a addr subaddr 0> generates a
-// DCC packet with D=1 (close turnout) and <a addr subaddr 1> generates D=0 
+// DCC packet with D=1 (close turnout) and <a addr subaddr 1> generates D=0
 // (throw turnout).
 //#define DCC_ACCESSORY_COMMAND_REVERSE
 
diff --git a/platformio.ini b/platformio.ini
index 1ea33de..7bc2f1a 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -9,7 +9,7 @@
 ; https://docs.platformio.org/page/projectconf.html
 
 [platformio]
-default_envs = 
+default_envs =
 	mega2560
 	uno
 	nano
@@ -56,7 +56,7 @@ build_flags = -std=c++17
 platform = atmelavr
 board = megaatmega2560
 framework = arduino
-lib_deps = 
+lib_deps =
 	${env.lib_deps}
 	arduino-libraries/Ethernet
 	SPI
@@ -68,7 +68,7 @@ build_flags = -DDIAG_IO=2 -DDIAG_LOOPTIMES
 platform = atmelavr
 board = megaatmega2560
 framework = arduino
-lib_deps = 
+lib_deps =
 	${env.lib_deps}
 	arduino-libraries/Ethernet
 	SPI
@@ -80,7 +80,7 @@ build_flags = -DIO_NO_HAL
 platform = atmelavr
 board = megaatmega2560
 framework = arduino
-lib_deps = 
+lib_deps =
 	${env.lib_deps}
 	arduino-libraries/Ethernet
 	SPI
@@ -92,7 +92,7 @@ build_flags = -DI2C_USE_WIRE
 platform = atmelavr
 board = megaatmega2560
 framework = arduino
-lib_deps = 
+lib_deps =
 	${env.lib_deps}
 	arduino-libraries/Ethernet
 	SPI
@@ -106,13 +106,13 @@ lib_ignore = WiFi101
 
 monitor_speed = 115200
 monitor_echo = yes
-build_flags = 
+build_flags =
 
 [env:mega2560-eth]
 platform = atmelavr
 board = megaatmega2560
 framework = arduino
-lib_deps = 
+lib_deps =
     ${env.lib_deps}
     arduino-libraries/Ethernet
     MDNS_Generic
@@ -129,7 +129,7 @@ monitor_echo = yes
 platform = atmelavr
 board = uno
 framework = arduino
-lib_deps = 
+lib_deps =
 	${env.lib_deps}
 	arduino-libraries/Ethernet
 	SPI
@@ -140,7 +140,7 @@ monitor_echo = yes
 platform = atmelmegaavr
 board = uno_wifi_rev2
 framework = arduino
-lib_deps = 
+lib_deps =
 	${env.lib_deps}
 	arduino-libraries/Ethernet
 	SPI
@@ -152,14 +152,14 @@ build_flags = "-DF_CPU=16000000L -DARDUINO=10813 -DARDUINO_AVR_UNO_WIFI_DEV_ED -
 platform = atmelmegaavr
 board = nano_every
 framework = arduino
-lib_deps = 
+lib_deps =
 	${env.lib_deps}
 	arduino-libraries/Ethernet
 	SPI
 monitor_speed = 115200
 monitor_echo = yes
 upload_speed = 19200
-build_flags = 
+build_flags =
 
 [env:uno]
 platform = atmelavr
@@ -193,6 +193,20 @@ build_flags = -std=c++17
 monitor_speed = 115200
 monitor_echo = yes
 
+[env:ESP32-OTA]
+platform = espressif32
+board = esp32dev
+framework = arduino
+lib_deps = ${env.lib_deps}
+build_flags = -std=c++17
+monitor_speed = 115200
+monitor_echo = yes
+upload_protocol = espota
+upload_port = dccex
+upload_flags =
+	--timeout=10
+	--auth=dccex-ota
+
 [env:Nucleo-F411RE]
 platform = ststm32 @ 17.6.0
 board = nucleo_f411re