Merge pull request #349 from DCC-EX:add-turntable-object

Add-turntable-object

CommandDistributor.cpp

@@ -161,6 +161,10 @@ void  CommandDistributor::broadcastTurnout(int16_t id, bool isClosed ) {
 #endif
 }
 
+void CommandDistributor::broadcastTurntable(int16_t id, uint8_t position, bool moving) {
+  broadcastReply(COMMAND_TYPE, F("<i %d %d %d>\n"), id, position, moving);
+}
+
 void  CommandDistributor::broadcastClockTime(int16_t time, int8_t rate) {
   // The JMRI clock command is of the form : PFT65871<;>4
   // The CS broadcast is of the form "<jC mmmm nn" where mmmm is time minutes and dd speed

CommandDistributor.h

@@ -49,6 +49,7 @@ public :
   static void broadcastLoco(byte slot);
   static void broadcastSensor(int16_t id, bool value);
   static void broadcastTurnout(int16_t id, bool isClosed);
+  static void broadcastTurntable(int16_t id, uint8_t position, bool moving);
   static void broadcastClockTime(int16_t time, int8_t rate);
   static void setClockTime(int16_t time, int8_t rate, byte opt);
   static int16_t retClockTime();

DCCEXParser.cpp

@@ -114,6 +114,7 @@ Once a new OPCODE is decided upon, update this list.
 #include "TrackManager.h"
 #include "DCCTimer.h"
 #include "EXRAIL2.h"
+#include "Turntables.h"
 
 // This macro can't be created easily as a portable function because the
 // flashlist requires a far pointer for high flash access. 
@@ -157,6 +158,8 @@ const int16_t HASH_KEYWORD_A='A';
 const int16_t HASH_KEYWORD_C='C';
 const int16_t HASH_KEYWORD_G='G';
 const int16_t HASH_KEYWORD_I='I';
+const int16_t HASH_KEYWORD_O='O';
+const int16_t HASH_KEYWORD_P='P';
 const int16_t HASH_KEYWORD_R='R';
 const int16_t HASH_KEYWORD_T='T';
 const int16_t HASH_KEYWORD_X='X';
@@ -168,6 +171,8 @@ const int16_t HASH_KEYWORD_ANOUT = -26399;
 const int16_t HASH_KEYWORD_WIFI = -5583;
 const int16_t HASH_KEYWORD_ETHERNET = -30767;
 const int16_t HASH_KEYWORD_WIT = 31594;
+const int16_t HASH_KEYWORD_EXTT = 8573;
+const int16_t HASH_KEYWORD_ADD = 3201;
 
 int16_t DCCEXParser::stashP[MAX_COMMAND_PARAMS];
 bool DCCEXParser::stashBusy;
@@ -770,11 +775,71 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                 }
                 StringFormatter::send(stream, F(">\n"));
                 return;
+// No turntables without HAL support
+#ifndef IO_NO_HAL
+            case HASH_KEYWORD_O: // <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;          
+                        StringFormatter::send(stream, F(" %d"),tto->getId());
+                    }
+                    StringFormatter::send(stream, F(">\n"));
+                } else {    // <JO id>
+                    Turntable *tto=Turntable::get(id);
+                    if (!tto || tto->isHidden()) {
+                        StringFormatter::send(stream, F(" %d X>\n"), id);
+                    } else {
+                        uint8_t pos = tto->getPosition();
+                        uint8_t type = tto->isEXTT();
+                        uint8_t posCount = tto->getPositionCount();
+                        const FSH *todesc = NULL;
+#ifdef EXRAIL_ACTIVE
+                        todesc = RMFT2::getTurntableDescription(id);
+#endif
+                        if (todesc == NULL) todesc = F("");
+                        StringFormatter::send(stream, F(" %d %d %d %d \"%S\">\n"), id, type, pos, posCount, todesc);
+                    }
+                }
+                return;
+            case HASH_KEYWORD_P: // <JP id> returns turntable position list for the turntable id
+                if (params==2) { // <JP id>
+                    Turntable *tto=Turntable::get(id);
+                    if (!tto || tto->isHidden()) {
+                        StringFormatter::send(stream, F(" %d X>\n"), id);
+                    } else {
+                        uint8_t posCount = tto->getPositionCount();
+                        const FSH *tpdesc = NULL;
+                        for (uint8_t p = 0; p < posCount; p++) {
+                            StringFormatter::send(stream, F("<jP"));
+                            int16_t value = tto->getPositionValue(p);
+                            int16_t angle = tto->getPositionAngle(p);
+#ifdef EXRAIL_ACTIVE
+                            tpdesc = RMFT2::getTurntablePositionDescription(id, p);
+#endif
+                            if (tpdesc == NULL) tpdesc = F("");
+                            StringFormatter::send(stream, F(" %d %d %d %d \"%S\""), id, p, value, angle, tpdesc);
+                            StringFormatter::send(stream, F(">\n"));
+                        }
+                    }
+                } else {
+                    StringFormatter::send(stream, F("<jP X>\n"));
+                }
+                return;
+#endif
             default: break;    
             }  // switch(p[1])
         break; // case J
         }
 
+// No turntables without HAL support
+#ifndef IO_NO_HAL
+    case 'I': // TURNTABLE  <I ...>
+        if (parseI(stream, params, p))
+            return;
+        break;
+#endif
+
     default: //anything else will diagnose and drop out to <X>
         DIAG(F("Opcode=%c params=%d"), opcode, params);
         for (int i = 0; i < params; i++)
@@ -1094,6 +1159,99 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
     return false;
 }
 
+// ==========================
+// Turntable - no support if no HAL
+// <I> - list all
+// <I id> - broadcast type and current position
+// <I id DCC> - create DCC - This is TBA
+// <I id steps> - operate (DCC)
+// <I id steps activity> - operate (EXTT)
+// <I id ADD position value> - add position
+// <I id EXTT i2caddress vpin home> - create EXTT
+#ifndef IO_NO_HAL
+bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
+{
+    switch (params)
+    {
+    case 0: // <I> list turntable objects
+        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();
+                uint8_t position = tto->getPosition();
+                StringFormatter::send(stream, F("<i %d %d>\n"), type, position);
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    case 2: // <I id position> - rotate a DCC turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (tto && !tto->isEXTT()) {
+                if (!tto->setPosition(p[0], p[1])) return false;
+            } else {
+                return false;
+            }
+        }
+        return true;
+
+    case 3: // <I id position activity> | <I id DCC home> - rotate to position for EX-Turntable or create DCC turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_DCC) {
+                if (tto || p[2] < 0 || p[2] > 3600) return false;
+                if (!DCCTurntable::create(p[0])) return false;
+                Turntable *tto = Turntable::get(p[0]);
+                tto->addPosition(0, 0, p[2]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                if (!tto) return false;
+                if (!tto->isEXTT()) return false;
+                if (!tto->setPosition(p[0], p[1], p[2])) return false;
+            }
+        }
+        return true;
+    
+    case 4: // <I id EXTT vpin home> create an EXTT turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_EXTT) {
+                if (tto || p[3] < 0 || p[3] > 3600) return false;
+                if (!EXTTTurntable::create(p[0], (VPIN)p[2])) return false;
+                Turntable *tto = Turntable::get(p[0]);
+                tto->addPosition(0, 0, p[3]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    case 5: // <I id ADD position value angle> add a position
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_ADD) {
+                // tto must exist, no more than 48 positions, angle 0 - 3600
+                if (!tto || p[2] > 48 || p[4] < 0 || p[4] > 3600) return false;
+                tto->addPosition(p[2], p[3], p[4]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    default:    // Anything else is invalid
+        return false;
+    }
+}
+#endif
+
 // CALLBACKS must be static
 bool DCCEXParser::stashCallback(Print *stream, int16_t p[MAX_COMMAND_PARAMS], RingStream * ringStream)
 {

DCCEXParser.h

@@ -24,6 +24,7 @@
 #include <Arduino.h>
 #include "FSH.h"
 #include "RingStream.h"
+#include "defines.h"
 
 typedef void (*FILTER_CALLBACK)(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
 typedef void (*AT_COMMAND_CALLBACK)(HardwareSerial * stream,const byte * command);
@@ -49,6 +50,9 @@ struct DCCEXParser
     static bool parseS(Print * stream, int16_t params, int16_t p[]);
     static bool parsef(Print * stream, int16_t params, int16_t p[]);
     static bool parseD(Print * stream, int16_t params, int16_t p[]);
+#ifndef IO_NO_HAL
+    static bool parseI(Print * stream, int16_t params, int16_t p[]);
+#endif
 
     static Print * getAsyncReplyStream();
     static void commitAsyncReplyStream();

EXRAIL2.cpp

@@ -52,6 +52,8 @@
 #include "Turnouts.h"
 #include "CommandDistributor.h"
 #include "TrackManager.h"
+#include "Turntables.h"
+#include "IODevice.h"
 
 // Command parsing keywords
 const int16_t HASH_KEYWORD_EXRAIL=15435;    
@@ -94,6 +96,9 @@ LookList *  RMFT2::onAmberLookup=NULL;
 LookList *  RMFT2::onGreenLookup=NULL;
 LookList *  RMFT2::onChangeLookup=NULL;
 LookList *  RMFT2::onClockLookup=NULL;
+#ifndef IO_NO_HAL
+LookList *  RMFT2::onRotateLookup=NULL;
+#endif
 LookList *  RMFT2::onOverloadLookup=NULL;
 
 #define GET_OPCODE GETHIGHFLASH(RMFT2::RouteCode,progCounter)
@@ -176,9 +181,11 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
   onGreenLookup=LookListLoader(OPCODE_ONGREEN);
   onChangeLookup=LookListLoader(OPCODE_ONCHANGE);
   onClockLookup=LookListLoader(OPCODE_ONTIME);
+#ifndef IO_NO_HAL
+  onRotateLookup=LookListLoader(OPCODE_ONROTATE);
+#endif
   onOverloadLookup=LookListLoader(OPCODE_ONOVERLOAD);
 
-
   // Second pass startup, define any turnouts or servos, set signals red
   // add sequences onRoutines to the lookups
   for (int sigslot=0;;sigslot++) {
@@ -242,6 +249,37 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
       break;
     }
 
+#ifndef IO_NO_HAL
+    case OPCODE_DCCTURNTABLE: {
+      VPIN id=operand;
+      int home=getOperand(progCounter,1);
+      setTurntableHiddenState(DCCTurntable::create(id));
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(0,0,home);
+      break;
+    }
+
+    case OPCODE_EXTTTURNTABLE: {
+      VPIN id=operand;
+      VPIN pin=getOperand(progCounter,1);
+      int home=getOperand(progCounter,3);
+      setTurntableHiddenState(EXTTTurntable::create(id,pin));
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(0,0,home);
+      break;
+    }
+
+    case OPCODE_TTADDPOSITION: {
+      VPIN id=operand;
+      int position=getOperand(progCounter,1);
+      int value=getOperand(progCounter,2);
+      int angle=getOperand(progCounter,3);
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(position,value,angle);
+      break;
+    }
+#endif
+
     case OPCODE_AUTOSTART:
       // automatically create a task from here at startup.
       // Removed if (progCounter>0) check 4.2.31 because 
@@ -266,6 +304,12 @@ void RMFT2::setTurnoutHiddenState(Turnout * t) {
   t->setHidden(GETFLASH(getTurnoutDescription(t->getId()))==0x01);     
 }
 
+#ifndef IO_NO_HAL
+void RMFT2::setTurntableHiddenState(Turntable * tto) {
+  tto->setHidden(GETFLASH(getTurntableDescription(tto->getId()))==0x01);
+}
+#endif
+
 char RMFT2::getRouteType(int16_t id) {
   for (int16_t i=0;;i+=2) {
     int16_t rid= GETHIGHFLASHW(routeIdList,i);
@@ -602,6 +646,14 @@ void RMFT2::loop2() {
     Turnout::setClosed(operand, true);
     break;
 
+#ifndef IO_NO_HAL
+  case OPCODE_ROTATE:
+    uint8_t activity;
+    activity=getOperand(2);
+    Turntable::setPosition(operand,getOperand(1),activity);
+    break;
+#endif
+
   case OPCODE_REV:
     forward = false;
     driveLoco(operand);
@@ -802,6 +854,12 @@ void RMFT2::loop2() {
     skipIf=Turnout::isThrown(operand);
     break;
 
+#ifndef IO_NO_HAL
+  case OPCODE_IFTTPOSITION: // do block if turntable at this position
+    skipIf=Turntable::getPosition(operand)!=(int)getOperand(1);
+    break;
+#endif
+
   case OPCODE_ENDIF:
     break;
     
@@ -975,6 +1033,15 @@ void RMFT2::loop2() {
     }
     break;
 
+#ifndef IO_NO_HAL
+  case OPCODE_WAITFORTT:  // OPCODE_WAITFOR,V(turntable_id)
+    if (Turntable::ttMoving(operand)) {
+      delayMe(100);
+      return;
+    }
+    break;
+#endif
+
   case OPCODE_PRINT:
     printMessage(operand);
     break;
@@ -999,6 +1066,12 @@ void RMFT2::loop2() {
   case OPCODE_ONGREEN:
   case OPCODE_ONCHANGE:
   case OPCODE_ONTIME:
+#ifndef IO_NO_HAL
+  case OPCODE_DCCTURNTABLE: // Turntable definition ignored at runtime
+  case OPCODE_EXTTTURNTABLE:  // Turntable definition ignored at runtime
+  case OPCODE_TTADDPOSITION:  // Turntable position definition ignored at runtime
+  case OPCODE_ONROTATE:
+#endif
   case OPCODE_ONOVERLOAD:
   
     break;
@@ -1144,6 +1217,13 @@ void RMFT2::changeEvent(int16_t vpin, bool change) {
   if (change)  handleEvent(F("CHANGE"),onChangeLookup,vpin);
 }
 
+#ifndef IO_NO_HAL
+void RMFT2::rotateEvent(int16_t turntableId, bool change) {
+  // Hunt or an ONROTATE for this turntable
+  if (change) handleEvent(F("ROTATE"),onRotateLookup,turntableId);
+}
+#endif
+
 void RMFT2::clockEvent(int16_t clocktime, bool change) {
   // Hunt for an ONTIME for this time
   if (Diag::CMD)

EXRAIL2.h

@@ -25,6 +25,7 @@
 #include "FSH.h"
 #include "IODevice.h"
 #include "Turnouts.h"
+#include "Turntables.h"
    
 // The following are the operation codes (or instructions) for a kind of virtual machine.
 // Each instruction is normally 3 bytes long with an operation code followed by a parameter.
@@ -63,6 +64,10 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_ONCHANGE,
              OPCODE_ONCLOCKTIME,
              OPCODE_ONTIME,
+#ifndef IO_NO_HAL
+             OPCODE_TTADDPOSITION,OPCODE_DCCTURNTABLE,OPCODE_EXTTTURNTABLE,
+             OPCODE_ONROTATE,OPCODE_ROTATE,OPCODE_IFTTPOSITION,OPCODE_WAITFORTT,
+#endif
              OPCODE_ONOVERLOAD,
 
              // OPcodes below this point are skip-nesting IF operations
@@ -132,6 +137,7 @@ class LookList {
     static void activateEvent(int16_t addr, bool active);
     static void changeEvent(int16_t id, bool change);
     static void clockEvent(int16_t clocktime, bool change);
+    static void rotateEvent(int16_t id, bool change);
     static void powerEvent(int16_t track, bool overload);
     static const int16_t SERVO_SIGNAL_FLAG=0x4000;
     static const int16_t ACTIVE_HIGH_SIGNAL_FLAG=0x2000;
@@ -147,6 +153,8 @@ class LookList {
   static const FSH *  getTurnoutDescription(int16_t id);
   static const FSH *  getRosterName(int16_t id);
   static const FSH *  getRosterFunctions(int16_t id);
+  static const FSH *  getTurntableDescription(int16_t id);
+  static const FSH *  getTurntablePositionDescription(int16_t turntableId, uint8_t positionId);
     
 private: 
     static void ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
@@ -159,6 +167,9 @@ private:
     static bool isSignal(int16_t id,char rag); 
     static int16_t getSignalSlot(int16_t id);
     static void setTurnoutHiddenState(Turnout * t);
+    #ifndef IO_NO_HAL
+    static void setTurntableHiddenState(Turntable * tto);
+    #endif
     static LookList* LookListLoader(OPCODE op1,
                       OPCODE op2=OPCODE_ENDEXRAIL,OPCODE op3=OPCODE_ENDEXRAIL);
     static void handleEvent(const FSH* reason,LookList* handlers, int16_t id);
@@ -191,6 +202,9 @@ private:
    static LookList * onGreenLookup;
    static LookList * onChangeLookup;
    static LookList * onClockLookup;
+#ifndef IO_NO_HAL
+   static LookList * onRotateLookup;
+#endif
    static LookList * onOverloadLookup;
     
   // Local variables - exist for each instance/task 

EXRAIL2MacroReset.h

@@ -41,6 +41,7 @@
 #undef CALL 
 #undef CLOSE 
 #undef DCC_SIGNAL
+#undef DCC_TURNTABLE
 #undef DEACTIVATE
 #undef DEACTIVATEL
 #undef DELAY
@@ -54,6 +55,7 @@
 #undef ENDTASK
 #undef ESTOP
 #undef EXRAIL
+#undef EXTT_TURNTABLE
 #undef FADE
 #undef FOFF
 #undef FOLLOW 
@@ -76,6 +78,7 @@
 #undef IFRESERVE
 #undef IFTHROWN
 #undef IFTIMEOUT
+#undef IFTTPOSITION
 #undef IFRE
 #undef INVERT_DIRECTION 
 #undef JOIN 
@@ -97,6 +100,7 @@
 #undef ONOVERLOAD
 #undef ONGREEN
 #undef ONRED
+#undef ONROTATE
 #undef ONTHROW 
 #undef ONCHANGE
 #undef PARSE
@@ -116,6 +120,8 @@
 #undef RETURN 
 #undef REV
 #undef ROSTER
+#undef ROTATE
+#undef ROTATE_DCC
 #undef ROUTE
 #undef SENDLOCO 
 #undef SEQUENCE 
@@ -139,6 +145,7 @@
 #undef START 
 #undef STOP 
 #undef THROW
+#undef TT_ADDPOSITION
 #undef TURNOUT 
 #undef TURNOUTL
 #undef UNJOIN
@@ -146,6 +153,9 @@
 #undef VIRTUAL_SIGNAL
 #undef VIRTUAL_TURNOUT
 #undef WAITFOR
+#ifndef IO_NO_HAL
+#undef WAITFORTT
+#endif
 #undef WITHROTTLE
 #undef XFOFF
 #undef XFON
@@ -168,6 +178,7 @@
 #define CALL(route) 
 #define CLOSE(id) 
 #define DCC_SIGNAL(id,add,subaddr)
+#define DCC_TURNTABLE(id,home,description)
 #define DEACTIVATE(addr,subaddr)
 #define DEACTIVATEL(addr)
 #define DELAY(mindelay)
@@ -181,6 +192,7 @@
 #define ENDTASK
 #define ESTOP 
 #define EXRAIL
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description)
 #define FADE(pin,value,ms)
 #define FOFF(func)
 #define FOLLOW(route) 
@@ -203,6 +215,7 @@
 #define IFTHROWN(turnout_id) 
 #define IFRESERVE(block)
 #define IFTIMEOUT
+#define IFTTPOSITION(turntable_id,position)
 #define IFRE(sensor_id,value)
 #define INVERT_DIRECTION 
 #define JOIN 
@@ -224,6 +237,7 @@
 #define ONCLOSE(turnout_id)
 #define ONGREEN(signal_id) 
 #define ONRED(signal_id)
+#define ONROTATE(turntable_id)
 #define ONTHROW(turnout_id) 
 #define ONCHANGE(sensor_id)
 #define PAUSE
@@ -242,8 +256,10 @@
 #define RESUME 
 #define RETURN 
 #define REV(speed) 
-#define ROUTE(id,description)
+#define ROTATE(turntable_id,position,activity)
+#define ROTATE_DCC(turntable_id,position)
 #define ROSTER(cab,name,funcmap...)
+#define ROUTE(id,description)
 #define SENDLOCO(cab,route) 
 #define SEQUENCE(id) 
 #define SERIAL(msg) 
@@ -266,6 +282,7 @@
 #define START(route) 
 #define STOP 
 #define THROW(id)
+#define TT_ADDPOSITION(turntable_id,position,value,angle,description...)
 #define TURNOUT(id,addr,subaddr,description...) 
 #define TURNOUTL(id,addr,description...) 
 #define UNJOIN 
@@ -273,6 +290,9 @@
 #define VIRTUAL_SIGNAL(id) 
 #define VIRTUAL_TURNOUT(id,description...) 
 #define WAITFOR(pin)
+#ifndef IO_NO_HAL
+#define WAITFORTT(turntable_id)
+#endif
 #define WITHROTTLE(msg)
 #define XFOFF(cab,func)
 #define XFON(cab,func)

EXRAILMacros.h

@@ -54,6 +54,8 @@
 
 // helper macro for turnout descriptions, creates NULL for missing description
 #define O_DESC(id, desc) case id: return ("" desc)[0]?F("" desc):NULL;
+// helper macro for turntable descriptions, creates NULL for missing description
+#define T_DESC(tid,pid,desc) if(turntableId==tid && positionId==pid) return ("" desc)[0]?F("" desc):NULL;
 // helper macro for turnout description as HIDDEN 
 #define HIDDEN "\x01"
 
@@ -68,9 +70,12 @@
 #include "myAutomation.h"
 
 // Pass 1h Implements HAL macro by creating exrailHalSetup function
+// Also allows creating EXTurntable object
 #include "EXRAIL2MacroReset.h"
 #undef HAL
 #define HAL(haltype,params...)  haltype::create(params);
+#undef EXTT_TURNTABLE
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) EXTurntable::create(vpin,1,i2c_address);
 void exrailHalSetup() {
    #include "myAutomation.h"
 }
@@ -187,6 +192,31 @@ const FSH * RMFT2::getTurnoutDescription(int16_t turnoutid) {
      return NULL;
 }
 
+// Pass to get turntable descriptions (optional)
+#include "EXRAIL2MacroReset.h"
+#undef DCC_TURNTABLE
+#define DCC_TURNTABLE(id,home,description...) O_DESC(id,description)
+#undef EXTT_TURNTABLE
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) O_DESC(id,description)
+
+const FSH * RMFT2::getTurntableDescription(int16_t turntableId) {
+   switch (turntableId) {
+      #include "myAutomation.h"
+   default:break;
+   }
+   return NULL;
+}
+
+// Pass to get turntable position descriptions (optional)
+#include "EXRAIL2MacroReset.h"
+#undef TT_ADDPOSITION
+#define TT_ADDPOSITION(turntable_id,position,value,home,description...) T_DESC(turntable_id,position,description)
+
+const FSH * RMFT2::getTurntablePositionDescription(int16_t turntableId, uint8_t positionId) {
+   #include "myAutomation.h"
+   return NULL;
+}
+
 // Pass 6: Roster IDs (count)
 #include "EXRAIL2MacroReset.h"
 #undef ROSTER
@@ -269,6 +299,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define BROADCAST(msg) PRINT(msg)
 #define CALL(route) OPCODE_CALL,V(route),
 #define CLOSE(id)  OPCODE_CLOSE,V(id),
+#ifndef IO_NO_HAL
+#define DCC_TURNTABLE(id,home,description...) OPCODE_DCCTURNTABLE,V(id),OPCODE_PAD,V(home),
+#endif
 #define DEACTIVATE(addr,subaddr) OPCODE_DCCACTIVATE,V(addr<<3 | subaddr<<1),
 #define DEACTIVATEL(addr) OPCODE_DCCACTIVATE,V((addr+3)<<1),
 #define DELAY(ms) ms<30000?OPCODE_DELAYMS:OPCODE_DELAY,V(ms/(ms<30000?1L:100L)),
@@ -283,6 +316,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ENDTASK OPCODE_ENDTASK,0,0,
 #define ESTOP OPCODE_SPEED,V(1), 
 #define EXRAIL
+#ifndef IO_NO_HAL
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) OPCODE_EXTTTURNTABLE,V(id),OPCODE_PAD,V(vpin),OPCODE_PAD,V(i2c_address),OPCODE_PAD,V(home),
+#endif
 #define FADE(pin,value,ms) OPCODE_SERVO,V(pin),OPCODE_PAD,V(value),OPCODE_PAD,V(PCA9685::ProfileType::UseDuration|PCA9685::NoPowerOff),OPCODE_PAD,V(ms/100L),
 #define FOFF(func) OPCODE_FOFF,V(func),
 #define FOLLOW(route) OPCODE_FOLLOW,V(route),
@@ -305,6 +341,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define IFRESERVE(block) OPCODE_IFRESERVE,V(block),
 #define IFTHROWN(turnout_id) OPCODE_IFTHROWN,V(turnout_id),
 #define IFTIMEOUT OPCODE_IFTIMEOUT,0,0,
+#ifndef IO_NO_HAL
+#define IFTTPOSITION(id,position) OPCODE_IFTTPOSITION,V(id),OPCODE_PAD,V(position),
+#endif
 #define IFRE(sensor_id,value) OPCODE_IFRE,V(sensor_id),OPCODE_PAD,V(value),
 #define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,0,0,
 #define JOIN OPCODE_JOIN,0,0,
@@ -326,6 +365,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ONDEACTIVATEL(linear) OPCODE_ONDEACTIVATE,V(linear+3),
 #define ONGREEN(signal_id) OPCODE_ONGREEN,V(signal_id),
 #define ONRED(signal_id) OPCODE_ONRED,V(signal_id),
+#ifndef IO_NO_HAL
+#define ONROTATE(id) OPCODE_ONROTATE,V(id),
+#endif
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
 #define ONCHANGE(sensor_id) OPCODE_ONCHANGE,V(sensor_id),
 #define PAUSE OPCODE_PAUSE,0,0,
@@ -345,6 +387,10 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define RETURN OPCODE_RETURN,0,0,
 #define REV(speed) OPCODE_REV,V(speed),
 #define ROSTER(cabid,name,funcmap...)
+#ifndef IO_NO_HAL
+#define ROTATE(id,position,activity) OPCODE_ROTATE,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(EXTurntable::activity),
+#define ROTATE_DCC(id,position) OPCODE_ROTATE,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(0),
+#endif
 #define ROUTE(id, description)  OPCODE_ROUTE, V(id), 
 #define SENDLOCO(cab,route) OPCODE_SENDLOCO,V(cab),OPCODE_PAD,V(route),
 #define SEQUENCE(id)  OPCODE_SEQUENCE, V(id), 
@@ -368,6 +414,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define START(route) OPCODE_START,V(route),
 #define STOP OPCODE_SPEED,V(0), 
 #define THROW(id)  OPCODE_THROW,V(id),
+#ifndef IO_NO_HAL
+#define TT_ADDPOSITION(id,position,value,angle,description...) OPCODE_TTADDPOSITION,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(value),OPCODE_PAD,V(angle),
+#endif
 #define TURNOUT(id,addr,subaddr,description...) OPCODE_TURNOUT,V(id),OPCODE_PAD,V(addr),OPCODE_PAD,V(subaddr),
 #define TURNOUTL(id,addr,description...) TURNOUT(id,(addr-1)/4+1,(addr-1)%4, description)
 #define UNJOIN OPCODE_UNJOIN,0,0,
@@ -376,6 +425,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define VIRTUAL_TURNOUT(id,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(0), 
 #define WITHROTTLE(msg) PRINT(msg)
 #define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
+#ifndef IO_NO_HAL
+#define WAITFORTT(turntable_id) OPCODE_WAITFORTT,V(turntable_id),
+#endif
 #define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),
 #define XFON(cab,func) OPCODE_XFON,V(cab),OPCODE_PAD,V(func),
 

IODevice.cpp

@@ -176,6 +176,13 @@ bool IODevice::exists(VPIN vpin) {
   return findDevice(vpin) != NULL;
 }
 
+// Return the status of the device att vpin.
+uint8_t IODevice::getStatus(VPIN vpin) {
+  IODevice *dev = findDevice(vpin);
+  if (!dev) return false;
+  return dev->_deviceState;
+}
+
 // check whether the pin supports notification.  If so, then regular _read calls are not required.
 bool IODevice::hasCallback(VPIN vpin) {
   IODevice *dev = findDevice(vpin);

IODevice.h

@@ -27,17 +27,6 @@
 // Define symbol DIAG_LOOPTIMES to enable CS loop execution time to be reported
 //#define DIAG_LOOPTIMES
 
-// Define symbol IO_NO_HAL to reduce FLASH footprint when HAL features not required
-// The HAL is disabled by default on Nano and Uno platforms, because of limited flash space.
-#include "defines.h"
-#if defined(ARDUINO_AVR_NANO) || defined(ARDUINO_AVR_UNO)
-  #if defined(DISABLE_DIAG) && defined(DISABLE_EEPROM) && defined(DISABLE_PROG)
-    #warning you have sacrificed DIAG for HAL
-  #else
-    #define IO_NO_HAL
-  #endif
-#endif
-
 // Define symbol IO_SWITCH_OFF_SERVO to set the PCA9685 output to 0 when an 
 // animation has completed.  This switches off the servo motor, preventing 
 // the continuous buzz sometimes found on servos, and reducing the 
@@ -165,6 +154,9 @@ public:
   // exists checks whether there is a device owning the specified vpin
   static bool exists(VPIN vpin);
 
+  // getStatus returns the state of the device at the specified vpin
+  static uint8_t getStatus(VPIN vpin);
+
   // Enable shared interrupt on specified pin for GPIO extender modules.  The extender module
   // should pull down this pin when requesting a scan.  The pin may be shared by multiple modules.
   // Without the shared interrupt, input states are scanned periodically to detect changes on 
@@ -388,6 +380,7 @@ private:
   uint8_t *_pinInUse; 
 };
 
+#ifndef IO_NO_HAL
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 /*
  * IODevice subclass for EX-Turntable.
@@ -416,10 +409,13 @@ private:
   void _begin() override;
   void _loop(unsigned long currentMicros) override;
   int _read(VPIN vpin) override;
+  void _broadcastStatus (VPIN vpin, uint8_t status);
   void _writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) override;
   void _display() override;
   uint8_t _stepperStatus;
+  uint8_t _previousStatus;
 };
+#endif
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 

IO_EXTurntable.cpp

@@ -20,20 +20,21 @@
 /*
 * The IO_EXTurntable device driver is used to control a turntable via an Arduino with a stepper motor over I2C.
 *
-* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/Turntable-EX) and contains the stepper motor logic.
+* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/EX-Turntable) and contains the stepper motor logic.
 *
-* This device driver sends a step position to Turntable-EX to indicate the step position to move to using either of these commands:
+* This device driver sends a step position to EX-Turntable to indicate the step position to move to using either of these commands:
 * <D TT vpin steps activity> in the serial console
 * MOVETT(vpin, steps, activity) in EX-RAIL
 * Refer to the documentation for further information including the valid activities.
 */
 
-#ifndef IO_EXTurntable_h
-#define IO_EXTurntable_h
-
 #include "IODevice.h"
 #include "I2CManager.h"
 #include "DIAG.h"
+#include "Turntables.h"
+#include "CommandDistributor.h"
+
+#ifndef IO_NO_HAL
 
 void EXTurntable::create(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
   new EXTurntable(firstVpin, nPins, I2CAddress);
@@ -44,6 +45,8 @@ EXTurntable::EXTurntable(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
   _firstVpin = firstVpin;
   _nPins = nPins;
   _I2CAddress = I2CAddress;
+  _stepperStatus = 0;
+  _previousStatus = 0;
   addDevice(this);
 }
 
@@ -51,6 +54,7 @@ EXTurntable::EXTurntable(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
 void EXTurntable::_begin() {
   I2CManager.begin();
   if (I2CManager.exists(_I2CAddress)) {
+    DIAG(F("EX-Turntable device found, I2C:%s"), _I2CAddress.toString());
 #ifdef DIAG_IO
     _display();
 #endif
@@ -67,15 +71,17 @@ void EXTurntable::_loop(unsigned long currentMicros) {
   uint8_t readBuffer[1];
   I2CManager.read(_I2CAddress, readBuffer, 1);
   _stepperStatus = readBuffer[0];
-  // DIAG(F("Turntable-EX returned status: %d"), _stepperStatus);
+  if (_stepperStatus != _previousStatus && _stepperStatus == 0) { // Broadcast when a rotation finishes
-  delayUntil(currentMicros + 500000);  // Wait 500ms before checking again, turntables turn slowly
+    _broadcastStatus(_firstVpin, _stepperStatus);
+    _previousStatus = _stepperStatus;
+  }
+  delayUntil(currentMicros + 100000);  // Wait 100ms before checking again
 }
 
 // Read returns status as obtained in our loop.
 // Return false if our status value is invalid.
 int EXTurntable::_read(VPIN vpin) {
   if (_deviceState == DEVSTATE_FAILED) return 0;
-  // DIAG(F("_read status: %d"), _stepperStatus);
   if (_stepperStatus > 1) {
     return false;
   } else {
@@ -83,6 +89,15 @@ int EXTurntable::_read(VPIN vpin) {
   }
 }
 
+// If a status change has occurred for a turntable object, broadcast it
+void EXTurntable::_broadcastStatus (VPIN vpin, uint8_t status) {
+  Turntable *tto = Turntable::getByVpin(vpin);
+  if (tto) {
+    tto->setMoving(status);
+    CommandDistributor::broadcastTurntable(tto->getId(), tto->getPosition(), status);
+  }
+}
+
 // writeAnalogue to send the steps and activity to Turntable-EX.
 // Sends 3 bytes containing the MSB and LSB of the step count, and activity.
 // value contains the steps, bit shifted to MSB + LSB.
@@ -100,6 +115,7 @@ int EXTurntable::_read(VPIN vpin) {
 // Acc_Off = 9           // Turn accessory pin off
 void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) {
   if (_deviceState == DEVSTATE_FAILED) return;
+  if (value < 0) return;
   uint8_t stepsMSB = value >> 8;
   uint8_t stepsLSB = value & 0xFF;
 #ifdef DIAG_IO
@@ -109,6 +125,8 @@ void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_
     _I2CAddress.toString(), stepsMSB, stepsLSB, activity);
 #endif
   _stepperStatus = 1;     // Tell the device driver Turntable-EX is busy
+  _previousStatus = _stepperStatus;
+  _broadcastStatus(vpin, _stepperStatus); // Broadcast when the rotation starts
   I2CManager.write(_I2CAddress, 3, stepsMSB, stepsLSB, activity);
 }
 

Turntables.cpp

@@ -0,0 +1,268 @@
+/*
+ *  © 2023 Peter Cole
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include "defines.h"
+#include <Arduino.h>
+#include "Turntables.h"
+#include "StringFormatter.h"
+#include "CommandDistributor.h"
+#include "EXRAIL2.h"
+#include "DCC.h"
+
+// No turntable support without HAL
+#ifndef IO_NO_HAL
+
+/*
+ * Protected static data
+ */
+Turntable *Turntable::_firstTurntable = 0;
+
+
+/*
+ * Public static data
+ */
+int Turntable::turntablelistHash = 0;
+
+
+/*
+ * Protected static functions
+ */
+// Add new turntable to end of list
+
+void Turntable::add(Turntable *tto) {
+  if (!_firstTurntable) {
+    _firstTurntable = tto;
+  } else {
+    Turntable *ptr = _firstTurntable;
+    for ( ; ptr->_nextTurntable!=0; ptr=ptr->_nextTurntable) {}
+    ptr->_nextTurntable = tto;
+  }
+  turntablelistHash++;
+}
+
+// Add a position
+void Turntable::addPosition(uint8_t idx, uint16_t value, uint16_t angle) {
+  _turntablePositions.insert(idx, value, angle);
+}
+
+// Get value for position
+uint16_t Turntable::getPositionValue(uint8_t position) {
+  TurntablePosition* currentPosition = _turntablePositions.getHead();
+  while (currentPosition) {
+    if (currentPosition->index == position) {
+      return currentPosition->data;
+    }
+    currentPosition = currentPosition->next;
+  }
+  return false;
+}
+
+// Get value for position
+uint16_t Turntable::getPositionAngle(uint8_t position) {
+  TurntablePosition* currentPosition = _turntablePositions.getHead();
+  while (currentPosition) {
+    if (currentPosition->index == position) {
+      return currentPosition->angle;
+    }
+    currentPosition = currentPosition->next;
+  }
+  return false;
+}
+
+// Get the count of positions associated with the turntable
+uint8_t Turntable::getPositionCount()  {
+  TurntablePosition* currentPosition = _turntablePositions.getHead();
+  uint8_t count = 0;
+  while (currentPosition) {
+    count++;
+    currentPosition = currentPosition->next;
+  }
+  return count;
+}
+
+/*
+ * Public static functions
+ */
+// Find turntable from list
+Turntable *Turntable::get(uint16_t id) {
+  for (Turntable *tto = _firstTurntable; tto != nullptr; tto = tto->_nextTurntable)
+    if (tto->_turntableData.id == id) return tto;
+  return NULL;
+}
+
+// Find turntable via Vpin
+Turntable *Turntable::getByVpin(VPIN vpin) {
+  for (Turntable *tto = _firstTurntable; tto != nullptr; tto = tto->_nextTurntable) {
+    if (tto->isEXTT()) {
+      EXTTTurntable *exttTto = static_cast<EXTTTurntable*>(tto);
+      if (exttTto->getVpin() == vpin) {
+        return tto;
+      }
+    }
+  }
+  return nullptr;
+}
+
+// Get the current position for turntable with the specified ID
+uint8_t Turntable::getPosition(uint16_t id) {
+  Turntable *tto = get(id);
+  if (!tto) return false;
+  return tto->getPosition();
+}
+
+// Got the moving state of the specified turntable
+bool Turntable::ttMoving(uint16_t id) {
+  Turntable *tto = get(id);
+  if (!tto) return false;
+  return tto->isMoving();
+}
+
+// Initiate a turntable move
+bool Turntable::setPosition(uint16_t id, uint8_t position, uint8_t activity) {
+#if defined(DIAG_IO)
+  DIAG(F("Rotate turntable %d to position %d, activity %d)"), id, position, activity);
+#endif
+  Turntable *tto = Turntable::get(id);
+  if (!tto) return false;
+  if (tto->isMoving()) return false;
+  bool ok = tto->setPositionInternal(position, activity);
+
+  if (ok) {
+    // We only deal with broadcasts for DCC turntables here, EXTT in the device driver
+    if (!tto->isEXTT()) {
+      CommandDistributor::broadcastTurntable(id, position, false);
+    }
+    // Trigger EXRAIL rotateEvent for both types here if changed
+#if defined(EXRAIL_ACTIVE)
+    bool rotated = false;
+    if (position != tto->_previousPosition) rotated = true;
+    RMFT2::rotateEvent(id, rotated);
+#endif
+  }
+  return ok;
+}
+
+/*************************************************************************************
+ * EXTTTurntable - EX-Turntable device.
+ * 
+ *************************************************************************************/
+// Private constructor
+EXTTTurntable::EXTTTurntable(uint16_t id, VPIN vpin) :
+  Turntable(id, TURNTABLE_EXTT)
+{
+  _exttTurntableData.vpin = vpin;
+}
+
+using DevState = IODevice::DeviceStateEnum;
+
+// Create function
+  Turntable *EXTTTurntable::create(uint16_t id, VPIN vpin) {
+#ifndef IO_NO_HAL
+    Turntable *tto = get(id);
+    if (tto) {
+      if (tto->isType(TURNTABLE_EXTT)) {
+        EXTTTurntable *extt = (EXTTTurntable *)tto;
+        extt->_exttTurntableData.vpin = vpin;
+        return tto;
+      }
+    }
+    if (!IODevice::exists(vpin)) return nullptr;
+    if (IODevice::getStatus(vpin) == DevState::DEVSTATE_FAILED) return nullptr;
+    if (Turntable::getByVpin(vpin)) return nullptr;
+    tto = (Turntable *)new EXTTTurntable(id, vpin);
+    DIAG(F("Turntable 0x%x size %d size %d"), tto, sizeof(Turntable), sizeof(struct TurntableData));
+    return tto;
+#else
+  (void)id;
+  (void)vpin;
+  return NULL;
+#endif
+  }
+
+  void EXTTTurntable::print(Print *stream) {
+    StringFormatter::send(stream, F("<i %d EXTURNTABLE %d>\n"), _turntableData.id, _exttTurntableData.vpin);
+  }
+
+  // EX-Turntable specific code for moving to the specified position
+  bool EXTTTurntable::setPositionInternal(uint8_t position, uint8_t activity) {
+#ifndef IO_NO_HAL
+    int16_t value;
+    if (position == 0) {
+      value = 0;  // Position 0 is just to send activities
+    } else {
+      if (activity > 1) return false; // If sending a position update, only phase changes valid (0|1)
+      value = getPositionValue(position); // Get position value from position list
+    }
+    if (position > 0 && !value) return false; // Return false if it's not a valid position
+    // Set position via device driver
+    _previousPosition = _turntableData.position;
+    _turntableData.position = position;
+    EXTurntable::writeAnalogue(_exttTurntableData.vpin, value, activity);
+#else
+    (void)position;
+#endif
+    return true;
+  }
+
+/*************************************************************************************
+ * DCCTurntable - DCC Turntable device.
+ * 
+ *************************************************************************************/
+// Private constructor
+DCCTurntable::DCCTurntable(uint16_t id) : Turntable(id, TURNTABLE_DCC) {}
+
+// Create function
+  Turntable *DCCTurntable::create(uint16_t id) {
+#ifndef IO_NO_HAL
+    Turntable *tto = get(id);
+    if (!tto) {
+      tto = (Turntable *)new DCCTurntable(id);
+      DIAG(F("Turntable 0x%x size %d size %d"), tto, sizeof(Turntable), sizeof(struct TurntableData));
+    }
+    return tto;
+#else
+  (void)id;
+  return NULL;
+#endif
+  }
+
+  void DCCTurntable::print(Print *stream) {
+    StringFormatter::send(stream, F("<i %d DCCTURNTABLE>\n"), _turntableData.id);
+  }
+
+  // EX-Turntable specific code for moving to the specified position
+  bool DCCTurntable::setPositionInternal(uint8_t position, uint8_t activity) {
+#ifndef IO_NO_HAL
+    int16_t value = getPositionValue(position);
+    if (position == 0 || !value) return false; // Return false if it's not a valid position
+    // Set position via device driver
+    int16_t addr=value>>3;
+    int16_t subaddr=(value>>1) & 0x03;
+    bool active=value & 0x01;
+    _previousPosition = _turntableData.position;
+    _turntableData.position = position;
+    DCC::setAccessory(addr, subaddr, active);
+#else
+    (void)position;
+#endif
+    return true;
+  }
+
+#endif

Turntables.h

@@ -0,0 +1,243 @@
+/*
+ *  © 2023 Peter Cole
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef TURNTABLES_H
+#define TURNTABLES_H
+
+#include <Arduino.h>
+#include "IODevice.h"
+#include "StringFormatter.h"
+
+// No turntable support without HAL
+#ifndef IO_NO_HAL
+
+// Turntable type definitions
+// EXTT = EX-Turntable
+// DCC = DCC accessory turntables - to be added later
+enum {
+  TURNTABLE_EXTT = 0,
+  TURNTABLE_DCC = 1,
+};
+
+/*************************************************************************************
+ * Turntable positions.
+ * 
+ *************************************************************************************/
+struct TurntablePosition {
+  uint8_t index;
+  uint16_t data;
+  uint16_t angle;
+  TurntablePosition* next;
+  
+  TurntablePosition(uint8_t idx, uint16_t value, uint16_t angle) : index(idx), data(value), angle(angle), next(nullptr) {}
+};
+
+class TurntablePositionList {
+public:
+  TurntablePositionList() : head(nullptr) {}
+
+  void insert(uint8_t idx, uint16_t value, uint16_t angle) {
+    TurntablePosition* newPosition = new TurntablePosition(idx, value, angle);
+    if(!head) {
+      head = newPosition;
+    } else {
+      newPosition->next = head;
+      head = newPosition;
+    }
+  }
+
+  TurntablePosition* getHead() {
+    return head;
+  }
+
+private:
+  TurntablePosition* head;
+
+};
+
+
+/*************************************************************************************
+ * Turntable - Base class for turntables.
+ * 
+ *************************************************************************************/
+
+class Turntable {
+protected:
+  /*
+   * Object data
+   */
+
+  //  Data common to all turntable types
+  struct TurntableData {
+    union {
+      struct {
+        bool hidden : 1;
+        bool turntableType : 1;
+        uint8_t position : 6;       // Allows up to 63 positions including 0/home
+      };
+      uint8_t flags;
+    };
+    uint16_t id;
+  } _turntableData;
+
+  // Pointer to next turntable object
+  Turntable *_nextTurntable = 0;
+
+  // Linked list for positions
+  TurntablePositionList _turntablePositions;
+  
+  // Store the previous position to allow checking for changes
+  uint8_t _previousPosition = 0;
+
+  // Store the current state of the turntable
+  bool _isMoving = false;
+
+  /*
+   * Constructor
+   */
+  Turntable(uint16_t id, uint8_t turntableType) {
+    _turntableData.id = id;
+    _turntableData.turntableType = turntableType;
+    _turntableData.hidden = false;
+    _turntableData.position = 0;
+    add(this);
+  }
+
+  /*
+   * Static data
+   */
+  static Turntable *_firstTurntable;
+  static int _turntablelistHash;
+
+  /*
+   * Virtual functions
+   */
+  virtual bool setPositionInternal(uint8_t position, uint8_t activity) = 0;
+
+  /*
+   * Static functions
+   */
+  static void add(Turntable *tto);
+
+public:
+  static Turntable *get(uint16_t id);
+  static Turntable *getByVpin(VPIN vpin);
+
+  /*
+   * Static data
+   */
+  static int turntablelistHash;
+
+  /*
+   * Public base class functions
+   */
+  inline uint8_t getPosition() { return _turntableData.position; }
+  inline bool isHidden() { return _turntableData.hidden; }
+  inline void setHidden(bool h) {_turntableData.hidden=h; }
+  inline bool isType(uint8_t type) { return _turntableData.turntableType == type; }
+  inline bool isEXTT() const { return _turntableData.turntableType == TURNTABLE_EXTT; }
+  inline uint16_t getId() { return _turntableData.id; }
+  inline Turntable *next() { return _nextTurntable; }
+  void printState(Print *stream);
+  void addPosition(uint8_t idx, uint16_t value, uint16_t angle);
+  uint16_t getPositionValue(uint8_t position);
+  uint16_t getPositionAngle(uint8_t position);
+  uint8_t getPositionCount();
+  bool isMoving() { return _isMoving; }
+  void setMoving(bool moving) { _isMoving=moving; }
+
+  /*
+   * Virtual functions
+   */
+  virtual void print(Print *stream) {
+    (void)stream; // suppress compiler warnings
+  }
+  virtual ~Turntable() {} // Destructor
+  
+
+  /*
+   * Public static functions
+   */
+  inline static bool exists(uint16_t id) { return get(id) != 0; }
+  static bool setPosition(uint16_t id, uint8_t position, uint8_t activity=0);
+  static uint8_t getPosition(uint16_t id);
+  static bool ttMoving(uint16_t id);
+  inline static Turntable *first() { return _firstTurntable; }
+  static bool printAll(Print *stream) {
+    bool gotOne = false;
+    for (Turntable *tto = _firstTurntable; tto != 0; tto = tto->_nextTurntable)
+      if (!tto->isHidden()) {
+        gotOne = true;
+        StringFormatter::send(stream, F("<i %d %d>\n"), tto->getId(), tto->getPosition());
+      }
+    return gotOne;
+  }
+
+};
+
+/*************************************************************************************
+ * EXTTTurntable - EX-Turntable device.
+ * 
+ *************************************************************************************/
+class EXTTTurntable : public Turntable {
+private:
+  // EXTTTurntableData contains device specific data
+  struct EXTTTurntableData {
+    VPIN vpin;
+  } _exttTurntableData;
+
+  // Constructor
+  EXTTTurntable(uint16_t id, VPIN vpin);
+
+public:
+  // Create function
+  static Turntable *create(uint16_t id, VPIN vpin);
+  void print(Print *stream) override;
+  VPIN getVpin() const { return _exttTurntableData.vpin; }
+
+protected:
+  // EX-Turntable specific code for setting position
+  bool setPositionInternal(uint8_t position, uint8_t activity) override;
+
+};
+
+/*************************************************************************************
+ * DCCTurntable - DCC accessory Turntable device.
+ * 
+ *************************************************************************************/
+class DCCTurntable : public Turntable {
+private:
+  // Constructor
+  DCCTurntable(uint16_t id);
+
+public:
+  // Create function
+  static Turntable *create(uint16_t id);
+  void print(Print *stream) override;
+
+protected:
+  // DCC specific code for setting position
+  bool setPositionInternal(uint8_t position, uint8_t activity=0) override;
+
+};
+
+#endif
+
+#endif

defines.h

@@ -213,6 +213,19 @@
 //
 #define WIFI_SERIAL_LINK_SPEED 115200
 
+////////////////////////////////////////////////////////////////////////////////
+//
+// Define symbol IO_NO_HAL to reduce FLASH footprint when HAL features not required
+// The HAL is disabled by default on Nano and Uno platforms, because of limited flash space.
+// 
+#if defined(ARDUINO_AVR_NANO) || defined(ARDUINO_AVR_UNO)
+  #if defined(DISABLE_DIAG) && defined(DISABLE_EEPROM) && defined(DISABLE_PROG)
+    #warning you have sacrificed DIAG for HAL
+  #else
+    #define IO_NO_HAL
+  #endif
+#endif
+
 #if __has_include ( "myAutomation.h")
   #if defined(HAS_ENOUGH_MEMORY) || defined(DISABLE_EEPROM) || defined(DISABLE_PROG)
     #define EXRAIL_ACTIVE

platformio.ini

@@ -30,7 +30,7 @@ include_dir = .
 
 [env]
 build_flags = -Wall -Wextra
-monitor_filters = time
+; monitor_filters = time
 ; lib_deps = adafruit/Adafruit ST7735 and ST7789 Library @ ^1.10.0
 
 [env:samd21-dev-usb]

version.h

@@ -3,7 +3,10 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "5.1.4"
+#define VERSION "5.1.5"
+// 5.1.5  - Added turntable object and EXRAIL commands
+//        - <I ...>, <JO ...>, <JP ...> - turntable commands
+//        - DCC_TURNTABLE, EXTT_TURNTABLE, IFTTPOSITION, ONROTATE, ROTATE, ROTATE_DCC, TT_ADDPOSITION, WAITFORTT EXRAIL
 // 5.1.4  - Added ONOVERLOAD & AFTEROVERLOAD to EXRAIL
 // 5.1.3  - Make parser more fool proof
 // 5.1.2  - Bugfix: ESP32 30ms off time