From 337af77a030ca57f9bfa5e1343965fe4069aa7aa Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Fri, 10 Nov 2023 20:33:14 +0100
Subject: [PATCH 01/10] booster test

---
 MotorDriver.cpp  |  4 ++++
 MotorDriver.h    | 38 ++++++++++++++++++++++++++++++++++++--
 TrackManager.cpp | 19 +++++++++++++------
 3 files changed, 53 insertions(+), 8 deletions(-)

diff --git a/MotorDriver.cpp b/MotorDriver.cpp
index 61e229f..15b5607 100644
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -605,6 +605,10 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
 	DIAG(F("TRACK %c ALERT FAULT"), trackno + 'A');
       }
       setPower(POWERMODE::ALERT);
+      if (trackMode & (TRACK_MODE_MAIN|TRACK_MODE_EXT)){ // add (&& isAutoreverse) later
+	DIAG(F("TRACK %c INVERT"), trackno + 'A');
+	invertOutput();
+      }
       break;
     }
     // all well
diff --git a/MotorDriver.h b/MotorDriver.h
index 20a91d3..c6e06b8 100644
--- a/MotorDriver.h
+++ b/MotorDriver.h
@@ -148,7 +148,9 @@ class MotorDriver {
     // otherwise the call from interrupt context can undo whatever we do
     // from outside interrupt
     void setBrake( bool on, bool interruptContext=false);
-  __attribute__((always_inline)) inline void setSignal( bool high) {
+    __attribute__((always_inline)) inline void setSignal( bool high) {
+      if (invertPhase)
+	high = !high;
       if (trackPWM) {
 	DCCTimer::setPWM(signalPin,high);
       }
@@ -168,6 +170,12 @@ class MotorDriver {
 	pinMode(signalPin, OUTPUT);
       else
 	pinMode(signalPin, INPUT);
+      if (signalPin2 != UNUSED_PIN) {
+	if (on)
+	  pinMode(signalPin2, OUTPUT);
+	else
+	  pinMode(signalPin2, INPUT);
+      }
     };
     inline pinpair getSignalPin() { return pinpair(signalPin,signalPin2); };
     void setDCSignal(byte speedByte);
@@ -232,6 +240,32 @@ class MotorDriver {
 #endif
   inline void setMode(TRACK_MODE m) {
     trackMode = m;
+    invertOutput(trackMode & TRACK_MODE_DCX);// change later to TRACK_MODE_INVERTED?
+  };
+  inline void invertOutput() {               // toggles output inversion
+    invertPhase = !invertPhase;
+    invertOutput(invertPhase);
+  };
+  inline void invertOutput(bool b) {         // sets output inverted or not
+    if (b)
+      invertPhase = 1;
+    else
+      invertPhase = 0;
+#if defined(ARDUINO_ARCH_ESP32)
+    pinpair p = getSignalPin();
+    uint32_t *outreg = (uint32_t *)(GPIO_FUNC0_OUT_SEL_CFG_REG + 4*p.pin);
+    if (invertPhase) // set or clear the invert bit in the gpio out register
+      *outreg |=  ((uint32_t)0x1 << GPIO_FUNC0_OUT_INV_SEL_S);
+    else
+      *outreg &= ~((uint32_t)0x1 << GPIO_FUNC0_OUT_INV_SEL_S);
+    if (p.invpin != UNUSED_PIN) {
+      outreg = (uint32_t *)(GPIO_FUNC0_OUT_SEL_CFG_REG + 4*p.invpin);
+      if (invertPhase) // clear or set the invert bit in the gpio out register
+	*outreg &= ~((uint32_t)0x1 << GPIO_FUNC0_OUT_INV_SEL_S);
+      else
+	*outreg |=  ((uint32_t)0x1 << GPIO_FUNC0_OUT_INV_SEL_S);
+    }
+#endif
   };
   inline TRACK_MODE getMode() {
     return trackMode;
@@ -263,7 +297,7 @@ class MotorDriver {
     bool invertBrake;       // brake pin passed as negative means pin is inverted
     bool invertPower;       // power pin passed as negative means pin is inverted
     bool invertFault;       // fault pin passed as negative means pin is inverted
-    
+    bool invertPhase = 0;   // phase of out pin is inverted
     // Raw to milliamp conversion factors avoiding float data types.
     // Milliamps=rawADCreading * sensefactorInternal / senseScale
     //
diff --git a/TrackManager.cpp b/TrackManager.cpp
index dedf45e..772f64e 100644
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -197,8 +197,8 @@ void TrackManager::setPROGSignal( bool on) {
 void TrackManager::setDCSignal(int16_t cab, byte speedbyte) {
   FOR_EACH_TRACK(t) {
     if (trackDCAddr[t]!=cab && cab != 0) continue;
-    if (track[t]->getMode()==TRACK_MODE_DC) track[t]->setDCSignal(speedbyte);
-    else if (track[t]->getMode()==TRACK_MODE_DCX) track[t]->setDCSignal(speedbyte ^ 128);
+    if (track[t]->getMode() & (TRACK_MODE_DC|TRACK_MODE_DCX))
+      track[t]->setDCSignal(speedbyte);
   }
 }    
 
@@ -223,11 +223,18 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
     pinpair p = track[trackToSet]->getSignalPin();
     //DIAG(F("Track=%c remove  pin %d"),trackToSet+'A', p.pin);
     gpio_reset_pin((gpio_num_t)p.pin);
-    pinMode(p.pin, OUTPUT); // gpio_reset_pin may reset to input
     if (p.invpin != UNUSED_PIN) {
       //DIAG(F("Track=%c remove ^pin %d"),trackToSet+'A', p.invpin);
       gpio_reset_pin((gpio_num_t)p.invpin);
-      pinMode(p.invpin, OUTPUT); // gpio_reset_pin may reset to input
+    }
+
+    if (mode == TRACK_MODE_EXT) {
+      pinMode(26, INPUT);
+      gpio_matrix_in(26, SIG_IN_FUNC228_IDX, false); //pads 224 to 228 available as loopback
+      gpio_matrix_out(p.pin, SIG_IN_FUNC228_IDX, false, false);
+      if (p.invpin != UNUSED_PIN) {
+	gpio_matrix_out(p.invpin, SIG_IN_FUNC228_IDX, true /*inverted*/, false);
+      }
     }
 #endif
 #ifndef DISABLE_PROG
@@ -261,10 +268,12 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
       track[trackToSet]->setBrake(false);
     }
 
+#ifndef ARDUINO_ARCH_ESP32
     // EXT is a special case where the signal pin is
     // turned off. So unless that is set, the signal
     // pin should be turned on
     track[trackToSet]->enableSignal(mode != TRACK_MODE_EXT);
+#endif
 
 #ifndef ARDUINO_ARCH_ESP32
     // re-evaluate HighAccuracy mode
@@ -320,8 +329,6 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 
 void TrackManager::applyDCSpeed(byte t) {
   uint8_t speedByte=DCC::getThrottleSpeedByte(trackDCAddr[t]);
-  if (track[t]->getMode()==TRACK_MODE_DCX)
-    speedByte = speedByte ^ 128; // reverse direction bit
   track[t]->setDCSignal(speedByte);
 }
 

From 2f3d489f1836d5ed1f6650b65bafc7d7a104ac54 Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Fri, 10 Nov 2023 23:58:30 +0100
Subject: [PATCH 02/10] ESP32: autoreverse and booster prototype

---
 EXRAIL2.cpp      |   2 +-
 MotorDriver.cpp  |   2 +-
 MotorDriver.h    |  12 +++-
 TrackManager.cpp | 162 ++++++++++++++++++++++++++---------------------
 TrackManager.h   |   2 +-
 5 files changed, 102 insertions(+), 78 deletions(-)

diff --git a/EXRAIL2.cpp b/EXRAIL2.cpp
index c902708..2e9761a 100644
--- a/EXRAIL2.cpp
+++ b/EXRAIL2.cpp
@@ -857,7 +857,7 @@ void RMFT2::loop2() {
       // If DC/DCX use  my loco for DC address 
       {
         TRACK_MODE mode = (TRACK_MODE)(operand>>8);
-        int16_t cab=(mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) ? loco : 0;
+        int16_t cab=(mode & TRACK_MODE_DC) ? loco : 0;
         TrackManager::setTrackMode(operand & 0x0F, mode, cab);
       }
       break; 
diff --git a/MotorDriver.cpp b/MotorDriver.cpp
index 15b5607..c9b820e 100644
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -605,7 +605,7 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
 	DIAG(F("TRACK %c ALERT FAULT"), trackno + 'A');
       }
       setPower(POWERMODE::ALERT);
-      if (trackMode & (TRACK_MODE_MAIN|TRACK_MODE_EXT)){ // add (&& isAutoreverse) later
+      if ((trackMode & TRACK_MODE_AUTOINV) && (trackMode & (TRACK_MODE_MAIN|TRACK_MODE_EXT|TRACK_MODE_BOOST))){
 	DIAG(F("TRACK %c INVERT"), trackno + 'A');
 	invertOutput();
       }
diff --git a/MotorDriver.h b/MotorDriver.h
index c6e06b8..db2ccc5 100644
--- a/MotorDriver.h
+++ b/MotorDriver.h
@@ -3,7 +3,7 @@
  *  © 2021 Mike S
  *  © 2021 Fred Decker
  *  © 2020 Chris Harlow
- *  © 2022 Harald Barth
+ *  © 2022,2023 Harald Barth
  *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
@@ -28,8 +28,14 @@
 #include "DCCTimer.h"
 
 // use powers of two so we can do logical and/or on the track modes in if clauses.
+// RACK_MODE_DCX is (TRACK_MODE_DC|TRACK_MODE_INV)
+template<class T> inline T operator~ (T a) { return (T)~(int)a; }
+template<class T> inline T operator| (T a, T b) { return (T)((int)a | (int)b); }
+template<class T> inline T operator& (T a, T b) { return (T)((int)a & (int)b); }
+template<class T> inline T operator^ (T a, T b) { return (T)((int)a ^ (int)b); }
 enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
-                        TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32};
+                        TRACK_MODE_DC = 8, TRACK_MODE_EXT = 16, TRACK_MODE_BOOST = 32,
+                        TRACK_MODE_INV = 64, TRACK_MODE_DCX = 72, TRACK_MODE_AUTOINV = 128};
 
 #define setHIGH(fastpin)  *fastpin.inout |= fastpin.maskHIGH
 #define setLOW(fastpin)   *fastpin.inout &= fastpin.maskLOW
@@ -240,7 +246,7 @@ class MotorDriver {
 #endif
   inline void setMode(TRACK_MODE m) {
     trackMode = m;
-    invertOutput(trackMode & TRACK_MODE_DCX);// change later to TRACK_MODE_INVERTED?
+    invertOutput(trackMode & TRACK_MODE_INV);
   };
   inline void invertOutput() {               // toggles output inversion
     invertPhase = !invertPhase;
diff --git a/TrackManager.cpp b/TrackManager.cpp
index 772f64e..1fffb0b 100644
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -1,6 +1,6 @@
 /*
  *  © 2022 Chris Harlow
- *  © 2022 Harald Barth
+ *  © 2022,2023 Harald Barth
  *  © 2023 Colin Murdoch
  *  All rights reserved.
  *  
@@ -45,6 +45,9 @@ const int16_t HASH_KEYWORD_DC = 2183;
 const int16_t HASH_KEYWORD_DCX = 6463; // DC reversed polarity 
 const int16_t HASH_KEYWORD_EXT = 8201; // External DCC signal
 const int16_t HASH_KEYWORD_A = 65; // parser makes single chars the ascii.   
+const int16_t HASH_KEYWORD_AUTO = -5457;
+const int16_t HASH_KEYWORD_BOOST = 11269;
+const int16_t HASH_KEYWORD_INV = 11857;
 
 MotorDriver * TrackManager::track[MAX_TRACKS];
 int16_t TrackManager::trackDCAddr[MAX_TRACKS];
@@ -87,7 +90,7 @@ void TrackManager::sampleCurrent() {
   if (!waiting) {
     // look for a valid track to sample or until we are around
     while (true) {
-      if (track[tr]->getMode() & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_DCX|TRACK_MODE_EXT )) {
+      if (track[tr]->getMode() & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_BOOST|TRACK_MODE_EXT )) {
 	track[tr]->startCurrentFromHW();
 	// for scope debug track[1]->setBrake(1);
 	waiting = true;
@@ -197,7 +200,7 @@ void TrackManager::setPROGSignal( bool on) {
 void TrackManager::setDCSignal(int16_t cab, byte speedbyte) {
   FOR_EACH_TRACK(t) {
     if (trackDCAddr[t]!=cab && cab != 0) continue;
-    if (track[t]->getMode() & (TRACK_MODE_DC|TRACK_MODE_DCX))
+    if (track[t]->getMode() & TRACK_MODE_DC)
       track[t]->setDCSignal(speedbyte);
   }
 }    
@@ -207,7 +210,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 
     //DIAG(F("Track=%c Mode=%d"),trackToSet+'A', mode);
     // DC tracks require a motorDriver that can set brake!
-    if (mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) {
+    if (mode & TRACK_MODE_DC) {
 #if defined(ARDUINO_AVR_UNO)
       DIAG(F("Uno has no PWM timers available for DC"));
       return false;
@@ -227,24 +230,30 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
       //DIAG(F("Track=%c remove ^pin %d"),trackToSet+'A', p.invpin);
       gpio_reset_pin((gpio_num_t)p.invpin);
     }
-
-    if (mode == TRACK_MODE_EXT) {
-      pinMode(26, INPUT);
+    if (mode & TRACK_MODE_BOOST) {
+      DIAG(F("Track=%c mode boost pin %d"),trackToSet+'A', p.pin);
+      pinMode(26, INPUT); // hardcoded XXX
       gpio_matrix_in(26, SIG_IN_FUNC228_IDX, false); //pads 224 to 228 available as loopback
       gpio_matrix_out(p.pin, SIG_IN_FUNC228_IDX, false, false);
       if (p.invpin != UNUSED_PIN) {
 	gpio_matrix_out(p.invpin, SIG_IN_FUNC228_IDX, true /*inverted*/, false);
       }
+    } else if (mode & (TRACK_MODE_MAIN | TRACK_MODE_PROG | TRACK_MODE_DC)) {
+      // gpio_reset_pin may reset to input
+      pinMode(p.pin, OUTPUT);
+      if (p.invpin != UNUSED_PIN)
+	pinMode(p.invpin, OUTPUT);
     }
+
 #endif
 #ifndef DISABLE_PROG
-    if (mode==TRACK_MODE_PROG) {
+    if (mode & TRACK_MODE_PROG) {
 #else
     if (false) {
 #endif
       // only allow 1 track to be prog
       FOR_EACH_TRACK(t)
-	if (track[t]->getMode()==TRACK_MODE_PROG && t != trackToSet) {
+	if ( (track[t]->getMode() & TRACK_MODE_PROG) && t != trackToSet) {
 	  track[t]->setPower(POWERMODE::OFF);
 	  track[t]->setMode(TRACK_MODE_NONE);
 	  track[t]->makeProgTrack(false);     // revoke prog track special handling
@@ -262,18 +271,20 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
     // state, otherwise trains run away or just dont move.
 
     // This can be done BEFORE the PWM-Timer evaluation (methinks)
-    if (!(mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX)) {
+    if (!(mode & TRACK_MODE_DC)) {
       // DCC tracks need to have set the PWM to zero or they will not work.
       track[trackToSet]->detachDCSignal();
       track[trackToSet]->setBrake(false);
     }
 
-#ifndef ARDUINO_ARCH_ESP32
-    // EXT is a special case where the signal pin is
-    // turned off. So unless that is set, the signal
-    // pin should be turned on
-    track[trackToSet]->enableSignal(mode != TRACK_MODE_EXT);
-#endif
+    // BOOST:
+    //  Leave it as is
+    // otherwise:
+    //  EXT is a special case where the signal pin is
+    //  turned off. So unless that is set, the signal
+    //  pin should be turned on
+    if (!(mode & TRACK_MODE_BOOST))
+      track[trackToSet]->enableSignal(!(mode & TRACK_MODE_EXT));
 
 #ifndef ARDUINO_ARCH_ESP32
     // re-evaluate HighAccuracy mode
@@ -283,7 +294,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
       // DC tracks must not have the DCC PWM switched on
       // so we globally turn it off if one of the PWM
       // capable tracks is now DC or DCX.
-      if (track[t]->getMode()==TRACK_MODE_DC || track[t]->getMode()==TRACK_MODE_DCX) {
+      if (track[t]->getMode() & TRACK_MODE_DC) {
 	if (track[t]->isPWMCapable()) {
 	  canDo=false;    // this track is capable but can not run PWM
 	  break;          // in this mode, so abort and prevent globally below
@@ -291,7 +302,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 	  track[t]->trackPWM=false; // this track sure can not run with PWM
 	  //DIAG(F("Track %c trackPWM 0 (not capable)"), t+'A');
 	}
-      } else if (track[t]->getMode()==TRACK_MODE_MAIN || track[t]->getMode()==TRACK_MODE_PROG) {
+      } else if (track[t]->getMode() & (TRACK_MODE_MAIN |TRACK_MODE_PROG)) {
 	track[t]->trackPWM = track[t]->isPWMCapable(); // trackPWM is still a guess here
 	//DIAG(F("Track %c trackPWM %d"), t+'A', track[t]->trackPWM);
 	canDo &= track[t]->trackPWM;
@@ -309,10 +320,12 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 #else
     // For ESP32 we just reinitialize the DCC Waveform
     DCCWaveform::begin();
+    // setMode() again AFTER Waveform::begin() of ESP32 fixes INVERTED signal
+    track[trackToSet]->setMode(mode);
 #endif
 
     // This block must be AFTER the PWM-Timer modifications
-    if (mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) {
+    if (mode & TRACK_MODE_DC) {
         // DC tracks need to be given speed of the throttle for that cab address
         // otherwise will not match other tracks on same cab.
         // This also needs to allow for inverted DCX
@@ -321,7 +334,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 
     // Normal running tracks are set to the global power state 
     track[trackToSet]->setPower(
-        (mode==TRACK_MODE_MAIN || mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX || mode==TRACK_MODE_EXT) ?
+      (mode & (TRACK_MODE_MAIN | TRACK_MODE_DC | TRACK_MODE_EXT | TRACK_MODE_BOOST)) ?
         mainPowerGuess : POWERMODE::OFF);
     //DIAG(F("TrackMode=%d"),mode);
     return true; 
@@ -361,11 +374,20 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
     if (params==2  && p[1]==HASH_KEYWORD_EXT) // <= id EXT>
         return setTrackMode(p[0],TRACK_MODE_EXT);
 
+    if (params==2  && p[1]==HASH_KEYWORD_BOOST) // <= id BOOST>
+        return setTrackMode(p[0],TRACK_MODE_BOOST);
+
+    if (params==2  && p[1]==HASH_KEYWORD_AUTO) // <= id AUTO>
+      return setTrackMode(p[0], track[p[0]]->getMode() | TRACK_MODE_AUTOINV);
+
+    if (params==2  && p[1]==HASH_KEYWORD_INV) // <= id AUTO>
+      return setTrackMode(p[0], track[p[0]]->getMode() | TRACK_MODE_INV);
+
     if (params==3  && p[1]==HASH_KEYWORD_DC && p[2]>0) // <= id DC cab>
         return setTrackMode(p[0],TRACK_MODE_DC,p[2]);
     
     if (params==3  && p[1]==HASH_KEYWORD_DCX && p[2]>0) // <= id DCX cab>
-        return setTrackMode(p[0],TRACK_MODE_DCX,p[2]);
+        return setTrackMode(p[0],TRACK_MODE_DC|TRACK_MODE_INV,p[2]);
 
     return false;
 }
@@ -374,35 +396,38 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
   // null stream means send to commandDistributor for broadcast
   if (track[t]==NULL) return;
   auto format=F("");
-  bool pstate = TrackManager::isPowerOn(t);
-  
-  switch(track[t]->getMode()) {
-  case TRACK_MODE_MAIN:
-      if (pstate) {format=F("<= %c MAIN ON>\n");} else {format = F("<= %c MAIN OFF>\n");}
-      break;
+//  bool pstate = TrackManager::isPowerOn(t);
+//  char *statestr;
+//  if (pstate)
+//    statestr = (char *)"ON";
+//  else
+//    statestr = (char *)"OFF";
+  TRACK_MODE tm = track[t]->getMode();
+  if (tm & TRACK_MODE_MAIN)
+    format=F("<= %c MAIN>\n");
 #ifndef DISABLE_PROG
-  case TRACK_MODE_PROG:
-      if (pstate) {format=F("<= %c PROG ON>\n");} else {format=F("<= %c PROG OFF>\n");}
-      break;
+  else if (tm & TRACK_MODE_PROG)
+    format=F("<= %c PROG>\n");
 #endif
-  case TRACK_MODE_NONE:
-      if (pstate) {format=F("<= %c NONE ON>\n");} else {format=F("<= %c NONE OFF>\n");}
-      break;
-  case TRACK_MODE_EXT:
-      if (pstate) {format=F("<= %c EXT ON>\n");} else {format=F("<= %c EXT OFF>\n");}
-      break;
-  case TRACK_MODE_DC:
-      if (pstate) {format=F("<= %c DC %d ON>\n");} else {format=F("<= %c DC %d OFF>\n");}
-      break;
-  case TRACK_MODE_DCX:
-      if (pstate) {format=F("<= %c DCX %d ON>\n");} else {format=F("<= %c DCX %d OFF>\n");}
-      break;
-  default:
-      break; // unknown, dont care    
+  else if (tm & TRACK_MODE_NONE)
+    format=F("<= %c NONE>\n");
+  else if(tm & TRACK_MODE_EXT)
+    format=F("<= %c EXT>\n");
+  else if(tm & TRACK_MODE_BOOST)
+    format=F("<= %c BOOST>\n");
+  else if (tm & TRACK_MODE_DC) {
+    if (tm & TRACK_MODE_INV)
+      format=F("<= %c DCX>\n");
+    else
+      format=F("<= %c DC>\n");
   }
+  else
+    format=F("<= %c XXX>\n");
 
-  if (stream) StringFormatter::send(stream,format,'A'+t, trackDCAddr[t]);   
-    else CommandDistributor::broadcastTrackState(format,'A'+t, trackDCAddr[t]);
+  if (stream)
+    StringFormatter::send(stream,format,'A'+t, trackDCAddr[t]);   
+  else
+    CommandDistributor::broadcastTrackState(format,'A'+t, trackDCAddr[t]);
   
 }
 
@@ -418,13 +443,13 @@ void TrackManager::loop() {
     if (nextCycleTrack>lastTrack) nextCycleTrack=0;
     if (track[nextCycleTrack]==NULL) return;
     MotorDriver * motorDriver=track[nextCycleTrack];
-    bool useProgLimit=dontLimitProg? false: track[nextCycleTrack]->getMode()==TRACK_MODE_PROG;
+    bool useProgLimit=dontLimitProg ? false : (bool)(track[nextCycleTrack]->getMode() & TRACK_MODE_PROG);
     motorDriver->checkPowerOverload(useProgLimit, nextCycleTrack);   
 }
 
 MotorDriver * TrackManager::getProgDriver() {
     FOR_EACH_TRACK(t)
-      if (track[t]->getMode()==TRACK_MODE_PROG) return track[t];
+      if (track[t]->getMode() & TRACK_MODE_PROG) return track[t];
     return NULL;
 } 
 
@@ -432,7 +457,7 @@ MotorDriver * TrackManager::getProgDriver() {
 std::vector<MotorDriver *>TrackManager::getMainDrivers() {
   std::vector<MotorDriver *>  v;
   FOR_EACH_TRACK(t)
-    if (track[t]->getMode()==TRACK_MODE_MAIN) v.push_back(track[t]);
+    if (track[t]->getMode() & TRACK_MODE_MAIN) v.push_back(track[t]);
   return v;
 }
 #endif
@@ -453,40 +478,33 @@ void TrackManager::setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byt
       MotorDriver * driver=track[thistrack]; 
       if (!driver) return; 
 
-      switch (track[thistrack]->getMode()) {
-          case TRACK_MODE_MAIN:
-              if (setProg) break; 
+      TRACK_MODE tm = track[thistrack]->getMode();
+      if (    (tm & TRACK_MODE_MAIN)
+	  && !setProg ){
               // toggle brake before turning power on - resets overcurrent error
               // on the Pololu board if brake is wired to ^D2.
               // XXX see if we can make this conditional
               driver->setBrake(true);
               driver->setBrake(false); // DCC runs with brake off
-              driver->setPower(mode);  
-              break; 
-          case TRACK_MODE_DC:
-          case TRACK_MODE_DCX:
-              //DIAG(F("Processing track - %d setProg %d"), thistrack, setProg);
-              if (setProg || setJoin)  break; 
+              driver->setPower(mode);
+      } else if (    (tm & TRACK_MODE_DC)
+		 && !(setProg || setJoin)){
+	      //DIAG(F("Processing track - %d setProg %d"), thistrack, setProg);
               driver->setBrake(true); // DC starts with brake on
               applyDCSpeed(thistrack);        // speed match DCC throttles
               driver->setPower(mode);
-              break;  
-          case TRACK_MODE_PROG:
-              if (!setProg && !setJoin) break; 
+      } else if (   (tm & TRACK_MODE_PROG)
+		 && (setProg || setJoin) ){
               driver->setBrake(true);
               driver->setBrake(false);
               driver->setPower(mode);
-              break;  
-          case TRACK_MODE_EXT:
+      } else if (   (tm & TRACK_MODE_EXT)
+		 || (tm & TRACK_MODE_BOOST)){
               driver->setBrake(true);
               driver->setBrake(false);
               driver->setPower(mode);
-        break;
-          case TRACK_MODE_NONE:
-              break;
-        }
-
- }
+      }
+}
 
  void TrackManager::reportPowerChange(Print* stream, byte thistrack) {
   // This function is for backward JMRI compatibility only
@@ -499,7 +517,7 @@ void TrackManager::setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byt
 
 POWERMODE TrackManager::getProgPower() {
     FOR_EACH_TRACK(t)
-      if (track[t]->getMode()==TRACK_MODE_PROG) 
+      if (track[t]->getMode() & TRACK_MODE_PROG)
 	  return track[t]->getPower();
     return POWERMODE::OFF;   
   }
@@ -544,7 +562,7 @@ void TrackManager::setJoin(bool joined) {
 #ifdef ARDUINO_ARCH_ESP32
   if (joined) {
     FOR_EACH_TRACK(t) {
-      if (track[t]->getMode()==TRACK_MODE_PROG) {
+      if (track[t]->getMode() & TRACK_MODE_PROG) {
 	tempProgTrack = t;
 	setTrackMode(t, TRACK_MODE_MAIN);
 	break;
@@ -573,7 +591,7 @@ bool TrackManager::isPowerOn(byte t) {
   }
 
 bool TrackManager::isProg(byte t) {
-    if (track[t]->getMode()==TRACK_MODE_PROG)
+    if (track[t]->getMode() & TRACK_MODE_PROG)
         return true;
     return false;
 }
diff --git a/TrackManager.h b/TrackManager.h
index d197751..d1edca2 100644
--- a/TrackManager.h
+++ b/TrackManager.h
@@ -112,7 +112,7 @@ class TrackManager {
     static POWERMODE mainPowerGuess;
     static void applyDCSpeed(byte t);
 
-    static int16_t trackDCAddr[MAX_TRACKS];  // dc address if TRACK_MODE_DC or TRACK_MODE_DCX
+    static int16_t trackDCAddr[MAX_TRACKS];  // dc address if TRACK_MODE_DC
 #ifdef ARDUINO_ARCH_ESP32
     static byte tempProgTrack; // holds the prog track number during join
 #endif

From 9ce95c07aaeda5ae710455368245fb1199783e1e Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Sat, 11 Nov 2023 08:03:59 +0100
Subject: [PATCH 03/10] Booster mode configured by defined booster pin. New
 mode name output

---
 TrackManager.cpp | 39 ++++++++++++++++++++++++++++-----------
 config.example.h |  6 ++++++
 2 files changed, 34 insertions(+), 11 deletions(-)

diff --git a/TrackManager.cpp b/TrackManager.cpp
index 1fffb0b..3b380f1 100644
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -46,7 +46,9 @@ const int16_t HASH_KEYWORD_DCX = 6463; // DC reversed polarity
 const int16_t HASH_KEYWORD_EXT = 8201; // External DCC signal
 const int16_t HASH_KEYWORD_A = 65; // parser makes single chars the ascii.   
 const int16_t HASH_KEYWORD_AUTO = -5457;
+#ifdef BOOSTER_INPUT
 const int16_t HASH_KEYWORD_BOOST = 11269;
+#endif
 const int16_t HASH_KEYWORD_INV = 11857;
 
 MotorDriver * TrackManager::track[MAX_TRACKS];
@@ -230,15 +232,18 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
       //DIAG(F("Track=%c remove ^pin %d"),trackToSet+'A', p.invpin);
       gpio_reset_pin((gpio_num_t)p.invpin);
     }
+#ifdef BOOSTER_INPUT
     if (mode & TRACK_MODE_BOOST) {
-      DIAG(F("Track=%c mode boost pin %d"),trackToSet+'A', p.pin);
-      pinMode(26, INPUT); // hardcoded XXX
+      //DIAG(F("Track=%c mode boost pin %d"),trackToSet+'A', p.pin);
+      pinMode(BOOSTER_INPUT, INPUT);
       gpio_matrix_in(26, SIG_IN_FUNC228_IDX, false); //pads 224 to 228 available as loopback
       gpio_matrix_out(p.pin, SIG_IN_FUNC228_IDX, false, false);
       if (p.invpin != UNUSED_PIN) {
 	gpio_matrix_out(p.invpin, SIG_IN_FUNC228_IDX, true /*inverted*/, false);
       }
-    } else if (mode & (TRACK_MODE_MAIN | TRACK_MODE_PROG | TRACK_MODE_DC)) {
+    } else // elseif clause continues
+#endif
+    if (mode & (TRACK_MODE_MAIN | TRACK_MODE_PROG | TRACK_MODE_DC)) {
       // gpio_reset_pin may reset to input
       pinMode(p.pin, OUTPUT);
       if (p.invpin != UNUSED_PIN)
@@ -373,10 +378,10 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
 
     if (params==2  && p[1]==HASH_KEYWORD_EXT) // <= id EXT>
         return setTrackMode(p[0],TRACK_MODE_EXT);
-
+#ifdef BOOSTER_INPUT
     if (params==2  && p[1]==HASH_KEYWORD_BOOST) // <= id BOOST>
         return setTrackMode(p[0],TRACK_MODE_BOOST);
-
+#endif
     if (params==2  && p[1]==HASH_KEYWORD_AUTO) // <= id AUTO>
       return setTrackMode(p[0], track[p[0]]->getMode() | TRACK_MODE_AUTOINV);
 
@@ -403,8 +408,14 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
 //  else
 //    statestr = (char *)"OFF";
   TRACK_MODE tm = track[t]->getMode();
-  if (tm & TRACK_MODE_MAIN)
-    format=F("<= %c MAIN>\n");
+  if (tm & TRACK_MODE_MAIN) {
+    if(tm & TRACK_MODE_AUTOINV)
+      format=F("<= %c MAIN AUTOINV>\n");
+    else if (tm & TRACK_MODE_INV)
+      format=F("<= %c MAIN INV>\n");
+    else
+      format=F("<= %c MAIN>\n");
+  }
 #ifndef DISABLE_PROG
   else if (tm & TRACK_MODE_PROG)
     format=F("<= %c PROG>\n");
@@ -413,13 +424,19 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
     format=F("<= %c NONE>\n");
   else if(tm & TRACK_MODE_EXT)
     format=F("<= %c EXT>\n");
-  else if(tm & TRACK_MODE_BOOST)
-    format=F("<= %c BOOST>\n");
+  else if(tm & TRACK_MODE_BOOST) {
+        if(tm & TRACK_MODE_AUTOINV)
+      format=F("<= %c BOOST AUTOINV>\n");
+    else if (tm & TRACK_MODE_INV)
+      format=F("<= %c BOOST INV>\n");
+    else
+      format=F("<= %c BOOST>\n");
+  }
   else if (tm & TRACK_MODE_DC) {
     if (tm & TRACK_MODE_INV)
-      format=F("<= %c DCX>\n");
+      format=F("<= %c DCX %d>\n");
     else
-      format=F("<= %c DC>\n");
+      format=F("<= %c DC %d>\n");
   }
   else
     format=F("<= %c XXX>\n");
diff --git a/config.example.h b/config.example.h
index 0f136f9..de31743 100644
--- a/config.example.h
+++ b/config.example.h
@@ -266,6 +266,12 @@ The configuration file for DCC-EX Command Station
 //
 //#define SERIAL_BT_COMMANDS
 
+// BOOSTER PIN INPUT ON ESP32
+// On ESP32 you have the possibility to define a pin as booster input
+// Arduio pin D2 is GPIO 26 on ESPDuino32
+//
+//#define BOOSTER_INPUT 26
+
 // SABERTOOTH
 //
 // This is a very special option and only useful if you happen to have a

From befcfebec7d2d6021389e37b714ae3f6baffe97d Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Sat, 11 Nov 2023 08:15:15 +0100
Subject: [PATCH 04/10] version 5.2.0

---
 GITHUB_SHA.h | 2 +-
 version.h    | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/GITHUB_SHA.h b/GITHUB_SHA.h
index d2a7fd1..867619e 100644
--- a/GITHUB_SHA.h
+++ b/GITHUB_SHA.h
@@ -1 +1 @@
-#define GITHUB_SHA "devel-202310230944Z"
+#define GITHUB_SHA "devel-202311110712Z"
diff --git a/version.h b/version.h
index 242d730..4258cf4 100644
--- a/version.h
+++ b/version.h
@@ -3,7 +3,8 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "5.1.21"
+#define VERSION "5.2.0"
+// 5.2.0  - ESP32: Autoreverse and booster mode support
 // 5.1.21 - EXRAIL invoke multiple ON handlers for same event
 // 5.1.20 - EXRAIL Tidy and ROUTE_STATE, ROUTE_CAPTION 
 // 5.1.19 - Only flag 2.2.0.0-dev as broken, not 2.2.0.0

From e8b9f80c8cd232cf1736c8740c7a534b776abf03 Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Sat, 11 Nov 2023 09:45:28 +0100
Subject: [PATCH 05/10] Reformat reply to <=>

---
 CommandDistributor.cpp |  4 ++--
 CommandDistributor.h   |  2 +-
 TrackManager.cpp       | 35 +++++++++++++++--------------------
 3 files changed, 18 insertions(+), 23 deletions(-)

diff --git a/CommandDistributor.cpp b/CommandDistributor.cpp
index 351a18d..653bbef 100644
--- a/CommandDistributor.cpp
+++ b/CommandDistributor.cpp
@@ -269,8 +269,8 @@ void CommandDistributor::broadcastRaw(clientType type, char * msg) {
   broadcastReply(type, F("%s"),msg);
 }
 
-void CommandDistributor::broadcastTrackState(const FSH* format,byte trackLetter, int16_t dcAddr) {
-  broadcastReply(COMMAND_TYPE, format,trackLetter, dcAddr);
+void CommandDistributor::broadcastTrackState(const FSH* format,byte trackLetter, byte pstate, int16_t dcAddr) {
+  broadcastReply(COMMAND_TYPE, format,trackLetter, pstate, dcAddr);
 }
 
 void  CommandDistributor::broadcastRouteState(uint16_t routeId, byte state ) {
diff --git a/CommandDistributor.h b/CommandDistributor.h
index 83bfbbd..7dfcdf6 100644
--- a/CommandDistributor.h
+++ b/CommandDistributor.h
@@ -55,7 +55,7 @@ public :
   static int16_t retClockTime();
   static void broadcastPower();
   static void broadcastRaw(clientType type,char * msg);
-  static void broadcastTrackState(const FSH* format,byte trackLetter, int16_t dcAddr);
+  static void broadcastTrackState(const FSH* format,byte trackLetter, byte pstate, int16_t dcAddr);
   template<typename... Targs> static void broadcastReply(clientType type, Targs... msg);
   static void forget(byte clientId);
   static void broadcastRouteState(uint16_t routeId,byte state);
diff --git a/TrackManager.cpp b/TrackManager.cpp
index 3b380f1..647f07c 100644
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -401,50 +401,45 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
   // null stream means send to commandDistributor for broadcast
   if (track[t]==NULL) return;
   auto format=F("");
-//  bool pstate = TrackManager::isPowerOn(t);
-//  char *statestr;
-//  if (pstate)
-//    statestr = (char *)"ON";
-//  else
-//    statestr = (char *)"OFF";
+  byte pstate = TrackManager::isPowerOn(t) ? 1 : 0;
   TRACK_MODE tm = track[t]->getMode();
   if (tm & TRACK_MODE_MAIN) {
     if(tm & TRACK_MODE_AUTOINV)
-      format=F("<= %c MAIN AUTOINV>\n");
+      format=F("<= %c %d MAIN AUTOINV>\n");
     else if (tm & TRACK_MODE_INV)
-      format=F("<= %c MAIN INV>\n");
+      format=F("<= %c %d MAIN INV>\n");
     else
-      format=F("<= %c MAIN>\n");
+      format=F("<= %c %d MAIN>\n");
   }
 #ifndef DISABLE_PROG
   else if (tm & TRACK_MODE_PROG)
-    format=F("<= %c PROG>\n");
+    format=F("<= %c %d PROG>\n");
 #endif
   else if (tm & TRACK_MODE_NONE)
-    format=F("<= %c NONE>\n");
+    format=F("<= %c %d NONE>\n");
   else if(tm & TRACK_MODE_EXT)
-    format=F("<= %c EXT>\n");
+    format=F("<= %c %d EXT>\n");
   else if(tm & TRACK_MODE_BOOST) {
         if(tm & TRACK_MODE_AUTOINV)
-      format=F("<= %c BOOST AUTOINV>\n");
+      format=F("<= %c %d BOOST AUTOINV>\n");
     else if (tm & TRACK_MODE_INV)
-      format=F("<= %c BOOST INV>\n");
+      format=F("<= %c %d BOOST INV>\n");
     else
-      format=F("<= %c BOOST>\n");
+      format=F("<= %c %d BOOST>\n");
   }
   else if (tm & TRACK_MODE_DC) {
     if (tm & TRACK_MODE_INV)
-      format=F("<= %c DCX %d>\n");
+      format=F("<= %c %d DCX %d>\n");
     else
-      format=F("<= %c DC %d>\n");
+      format=F("<= %c %d DC %d>\n");
   }
   else
-    format=F("<= %c XXX>\n");
+    format=F("<= %c %d XXX>\n");
 
   if (stream)
-    StringFormatter::send(stream,format,'A'+t, trackDCAddr[t]);   
+    StringFormatter::send(stream,format,'A'+t, pstate, trackDCAddr[t]);
   else
-    CommandDistributor::broadcastTrackState(format,'A'+t, trackDCAddr[t]);
+    CommandDistributor::broadcastTrackState(format,'A'+t, pstate, trackDCAddr[t]);
   
 }
 

From 86ed8ff8a6aeb45abaf0a25def6d0d3e10815c82 Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Mon, 13 Nov 2023 17:16:58 +0100
Subject: [PATCH 06/10] remove power state from <=> answer

---
 CommandDistributor.cpp |  4 ++--
 CommandDistributor.h   |  2 +-
 TrackManager.cpp       | 31 ++++++++++++++-----------------
 3 files changed, 17 insertions(+), 20 deletions(-)

diff --git a/CommandDistributor.cpp b/CommandDistributor.cpp
index 653bbef..cd9e89e 100644
--- a/CommandDistributor.cpp
+++ b/CommandDistributor.cpp
@@ -269,8 +269,8 @@ void CommandDistributor::broadcastRaw(clientType type, char * msg) {
   broadcastReply(type, F("%s"),msg);
 }
 
-void CommandDistributor::broadcastTrackState(const FSH* format,byte trackLetter, byte pstate, int16_t dcAddr) {
-  broadcastReply(COMMAND_TYPE, format,trackLetter, pstate, dcAddr);
+void CommandDistributor::broadcastTrackState(const FSH* format,byte trackLetter, int16_t dcAddr) {
+  broadcastReply(COMMAND_TYPE, format, trackLetter, dcAddr);
 }
 
 void  CommandDistributor::broadcastRouteState(uint16_t routeId, byte state ) {
diff --git a/CommandDistributor.h b/CommandDistributor.h
index 7dfcdf6..83bfbbd 100644
--- a/CommandDistributor.h
+++ b/CommandDistributor.h
@@ -55,7 +55,7 @@ public :
   static int16_t retClockTime();
   static void broadcastPower();
   static void broadcastRaw(clientType type,char * msg);
-  static void broadcastTrackState(const FSH* format,byte trackLetter, byte pstate, int16_t dcAddr);
+  static void broadcastTrackState(const FSH* format,byte trackLetter, int16_t dcAddr);
   template<typename... Targs> static void broadcastReply(clientType type, Targs... msg);
   static void forget(byte clientId);
   static void broadcastRouteState(uint16_t routeId,byte state);
diff --git a/TrackManager.cpp b/TrackManager.cpp
index 647f07c..8cdadb2 100644
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -400,46 +400,43 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
 void TrackManager::streamTrackState(Print* stream, byte t) {
   // null stream means send to commandDistributor for broadcast
   if (track[t]==NULL) return;
-  auto format=F("");
-  byte pstate = TrackManager::isPowerOn(t) ? 1 : 0;
+  auto format=F("<= %d XXX>\n");
   TRACK_MODE tm = track[t]->getMode();
   if (tm & TRACK_MODE_MAIN) {
     if(tm & TRACK_MODE_AUTOINV)
-      format=F("<= %c %d MAIN AUTOINV>\n");
+      format=F("<= %c MAIN A>\n");
     else if (tm & TRACK_MODE_INV)
-      format=F("<= %c %d MAIN INV>\n");
+      format=F("<= %c MAIN I>\n");
     else
-      format=F("<= %c %d MAIN>\n");
+      format=F("<= %c MAIN>\n");
   }
 #ifndef DISABLE_PROG
   else if (tm & TRACK_MODE_PROG)
-    format=F("<= %c %d PROG>\n");
+    format=F("<= %c PROG>\n");
 #endif
   else if (tm & TRACK_MODE_NONE)
-    format=F("<= %c %d NONE>\n");
+    format=F("<= %c NONE>\n");
   else if(tm & TRACK_MODE_EXT)
-    format=F("<= %c %d EXT>\n");
+    format=F("<= %c EXT>\n");
   else if(tm & TRACK_MODE_BOOST) {
         if(tm & TRACK_MODE_AUTOINV)
-      format=F("<= %c %d BOOST AUTOINV>\n");
+      format=F("<= %c B A>\n");
     else if (tm & TRACK_MODE_INV)
-      format=F("<= %c %d BOOST INV>\n");
+      format=F("<= %c B I>\n");
     else
-      format=F("<= %c %d BOOST>\n");
+      format=F("<= %c B>\n");
   }
   else if (tm & TRACK_MODE_DC) {
     if (tm & TRACK_MODE_INV)
-      format=F("<= %c %d DCX %d>\n");
+      format=F("<= %c DCX %d>\n");
     else
-      format=F("<= %c %d DC %d>\n");
+      format=F("<= %c DC %d>\n");
   }
-  else
-    format=F("<= %c %d XXX>\n");
 
   if (stream)
-    StringFormatter::send(stream,format,'A'+t, pstate, trackDCAddr[t]);
+    StringFormatter::send(stream,format,'A'+t, trackDCAddr[t]);
   else
-    CommandDistributor::broadcastTrackState(format,'A'+t, pstate, trackDCAddr[t]);
+    CommandDistributor::broadcastTrackState(format,'A'+t, trackDCAddr[t]);
   
 }
 

From 582ff890f4e41dafc00c54cebadbfc9a6d37db8f Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Tue, 14 Nov 2023 00:05:18 +0100
Subject: [PATCH 07/10] Trackmanager rework for simpler structure

---
 CommandDistributor.cpp |   5 ++
 DCCEXParser.cpp        | 147 ++++++++++++-----------------------------
 EXRAIL2.cpp            |   4 +-
 MotorDriver.h          |   3 +-
 TrackManager.cpp       | 115 +++++++++++++++++++-------------
 TrackManager.h         |  15 ++---
 6 files changed, 126 insertions(+), 163 deletions(-)

diff --git a/CommandDistributor.cpp b/CommandDistributor.cpp
index cd9e89e..89c8714 100644
--- a/CommandDistributor.cpp
+++ b/CommandDistributor.cpp
@@ -248,6 +248,11 @@ void  CommandDistributor::broadcastLoco(byte slot) {
 }
 
 void  CommandDistributor::broadcastPower() {
+  char pstr[] = "? x";
+  for(byte t=0; t<8; t++)
+    if (TrackManager::getPower(t, pstr))
+      broadcastReply(COMMAND_TYPE, F("<p%s>\n"),pstr);
+
   bool main=TrackManager::getMainPower()==POWERMODE::ON;
   bool prog=TrackManager::getProgPower()==POWERMODE::ON;
   bool join=TrackManager::isJoined();
diff --git a/DCCEXParser.cpp b/DCCEXParser.cpp
index 96596c6..3b91d86 100644
--- a/DCCEXParser.cpp
+++ b/DCCEXParser.cpp
@@ -553,131 +553,66 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 
     case '1': // POWERON <1   [MAIN|PROG|JOIN]>
         {
-            bool main=false;
-            bool prog=false;
-            bool join=false;
-            bool singletrack=false;
-            //byte t=0;
-            if (params > 1) break;
-            if (params==0) { // All
-                main=true;
-                prog=true;
-            }
-            if (params==1) {
-                if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
-                        main=true;
+	  if (params > 1) break;
+	  if (params==0) { // All
+	    TrackManager::setTrackPower(TRACK_MODE_ALL, POWERMODE::ON);
+	  }
+	  if (params==1) {
+	    if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
+	      TrackManager::setTrackPower(TRACK_MODE_MAIN, POWERMODE::ON);
             }
 #ifndef DISABLE_PROG
             else if (p[0] == HASH_KEYWORD_JOIN) {  // <1 JOIN>
-                main=true;
-                prog=true;
-                join=true;
+	      TrackManager::setJoin(true);
+	      TrackManager::setTrackPower(TRACK_MODE_MAIN|TRACK_MODE_PROG, POWERMODE::ON);
             }
             else if (p[0]==HASH_KEYWORD_PROG) { // <1 PROG>
-                prog=true;
+	      TrackManager::setJoin(false);
+	      TrackManager::setTrackPower(TRACK_MODE_PROG, POWERMODE::ON);
             }
 #endif
-            //else if (p[0] >= 'A' && p[0] <= 'H') { // <1 A-H>
             else if (p[0] >= HASH_KEYWORD_A && p[0] <= HASH_KEYWORD_H) { // <1 A-H>
-                byte t = (p[0] - 'A');
-                    //DIAG(F("Processing track - %d "), t);
-                    if (TrackManager::isProg(t)) {
-                        main = false;
-                        prog = true;
-                    }
-                    else
-                    {
-                        main=true;
-                        prog=false;
-                    }
-                singletrack=true;
-                if (main) TrackManager::setTrackPower(false, false, POWERMODE::ON, t);
-                if (prog) TrackManager::setTrackPower(true, false, POWERMODE::ON, t);
-                
-                StringFormatter::send(stream, F("<1 %c>\n"), t+'A');
-                //CommandDistributor::broadcastPower();
-                //TrackManager::streamTrackState(NULL,t);
-                return;
+	      byte t = (p[0] - 'A');
+	      TrackManager::setTrackPower(POWERMODE::ON, t);
+	      //StringFormatter::send(stream, F("<p1 %c>\n"), t+'A');
             }
-
 	    else break; // will reply <X>
-	    }
-
-        if (!singletrack) {
-            TrackManager::setJoin(join);
-            if (join) TrackManager::setJoinPower(POWERMODE::ON);
-            else {
-                if (main) TrackManager::setMainPower(POWERMODE::ON);
-                if (prog) TrackManager::setProgPower(POWERMODE::ON);
-            }
-            CommandDistributor::broadcastPower();
+	  }
+	  CommandDistributor::broadcastPower();
+	  //TrackManager::streamTrackState(NULL,t);
           
-            return;
-            }
+	  return;
+	}
             
-        }
-
     case '0': // POWEROFF <0 [MAIN | PROG] >
         {
-            bool main=false;
-            bool prog=false;
-            bool singletrack=false;
-            //byte t=0;
-            if (params > 1) break;
-            if (params==0) { // All
-                main=true;
-                prog=true;
-            }
-            if (params==1) {
-                if (p[0]==HASH_KEYWORD_MAIN) { // <0 MAIN>
-                    main=true;
-            }
+	  if (params > 1) break;
+	  if (params==0) { // All
+	    TrackManager::setJoin(false);
+	    TrackManager::setTrackPower(TRACK_MODE_ALL, POWERMODE::OFF);
+	  }
+	  if (params==1) {
+	    if (p[0]==HASH_KEYWORD_MAIN) { // <0 MAIN>
+	      TrackManager::setJoin(false);
+	      TrackManager::setTrackPower(TRACK_MODE_MAIN, POWERMODE::OFF);
+	    }
 #ifndef DISABLE_PROG
             else if (p[0]==HASH_KEYWORD_PROG) { // <0 PROG>
-                prog=true;
+	      TrackManager::progTrackBoosted=false;  // Prog track boost mode will not outlive prog track off
+	      TrackManager::setTrackPower(TRACK_MODE_PROG, POWERMODE::OFF);
             }
 #endif
-            //else if (p[0] >= 'A' && p[0] <= 'H') { // <1 A-H>
-             else if (p[0] >= HASH_KEYWORD_A && p[0] <= HASH_KEYWORD_H) { // <1 A-H>
-                byte t = (p[0] - 'A');
-                //DIAG(F("Processing track - %d "), t);
-                if (TrackManager::isProg(t)) {
-                    main = false;
-                    prog = true;
-                }
-                else
-                {
-                    main=true;
-                    prog=false;
-                }
-                singletrack=true;  
-                TrackManager::setJoin(false);
-                if (main) TrackManager::setTrackPower(false, false, POWERMODE::OFF, t);
-                if (prog) {
-                    TrackManager::progTrackBoosted=false;  // Prog track boost mode will not outlive prog track off
-                    TrackManager::setTrackPower(true, false, POWERMODE::OFF, t);                 
-                }   
-                StringFormatter::send(stream, F("<0 %c>\n"), t+'A');
-                //CommandDistributor::broadcastPower();
-                //TrackManager::streamTrackState(NULL, t);
-                return;
-            }    
-
-	    else break; // will reply <X>
+	    else if (p[0] >= HASH_KEYWORD_A && p[0] <= HASH_KEYWORD_H) { // <1 A-H>
+	      byte t = (p[0] - 'A');
+	      TrackManager::setJoin(false);
+	      TrackManager::setTrackPower(POWERMODE::OFF, t);
+	      //StringFormatter::send(stream, F("<p0 %c>\n"), t+'A');
 	    }
-
-        if (!singletrack) {
-            TrackManager::setJoin(false);
-            
-            if (main) TrackManager::setMainPower(POWERMODE::OFF);
-            if (prog) {
-                    TrackManager::progTrackBoosted=false;  // Prog track boost mode will not outlive prog track off
-                    TrackManager::setProgPower(POWERMODE::OFF);
-                }
-            CommandDistributor::broadcastPower();
-            return;
-        }
-    }
+	    else break; // will reply <X>
+	  }
+	  CommandDistributor::broadcastPower();
+	  return;
+	}
 
     case '!': // ESTOP ALL  <!>
         DCC::setThrottle(0,1,1); // this broadcasts speed 1(estop) and sets all reminders to speed 1.
diff --git a/EXRAIL2.cpp b/EXRAIL2.cpp
index 8e6a6b5..933650c 100644
--- a/EXRAIL2.cpp
+++ b/EXRAIL2.cpp
@@ -636,10 +636,10 @@ void RMFT2::loop2() {
         //byte thistrack=getOperand(1);
         switch (operand) {
           case TRACK_POWER_0:
-            TrackManager::setTrackPower(TrackManager::isProg(getOperand(1)), false, POWERMODE::OFF, getOperand(1));
+            TrackManager::setTrackPower(POWERMODE::OFF, getOperand(1));
           break;
           case TRACK_POWER_1:
-            TrackManager::setTrackPower(TrackManager::isProg(getOperand(1)), false, POWERMODE::ON, getOperand(1));
+            TrackManager::setTrackPower(POWERMODE::ON, getOperand(1));
           break;
         }
 
diff --git a/MotorDriver.h b/MotorDriver.h
index db2ccc5..19bfd13 100644
--- a/MotorDriver.h
+++ b/MotorDriver.h
@@ -35,7 +35,8 @@ template<class T> inline T operator& (T a, T b) { return (T)((int)a & (int)b); }
 template<class T> inline T operator^ (T a, T b) { return (T)((int)a ^ (int)b); }
 enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
                         TRACK_MODE_DC = 8, TRACK_MODE_EXT = 16, TRACK_MODE_BOOST = 32,
-                        TRACK_MODE_INV = 64, TRACK_MODE_DCX = 72, TRACK_MODE_AUTOINV = 128};
+                        TRACK_MODE_ALL = 62, // only to operate all tracks
+                        TRACK_MODE_INV = 64, TRACK_MODE_DCX = 72 /*DC + INV*/, TRACK_MODE_AUTOINV = 128};
 
 #define setHIGH(fastpin)  *fastpin.inout |= fastpin.maskHIGH
 #define setLOW(fastpin)   *fastpin.inout &= fastpin.maskLOW
diff --git a/TrackManager.cpp b/TrackManager.cpp
index 8cdadb2..ff56001 100644
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -471,51 +471,48 @@ std::vector<MotorDriver *>TrackManager::getMainDrivers() {
 }
 #endif
 
-void TrackManager::setPower2(bool setProg,bool setJoin, POWERMODE mode) {
-    if (!setProg) mainPowerGuess=mode; 
-    FOR_EACH_TRACK(t) {
-
-      TrackManager::setTrackPower(setProg, setJoin, mode, t);
-      
-    }
-    return;
-}
-
-void TrackManager::setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byte thistrack) {
-
-      //DIAG(F("SetTrackPower Processing Track %d"), thistrack);
-      MotorDriver * driver=track[thistrack]; 
-      if (!driver) return; 
-
-      TRACK_MODE tm = track[thistrack]->getMode();
-      if (    (tm & TRACK_MODE_MAIN)
-	  && !setProg ){
-              // toggle brake before turning power on - resets overcurrent error
-              // on the Pololu board if brake is wired to ^D2.
-              // XXX see if we can make this conditional
-              driver->setBrake(true);
-              driver->setBrake(false); // DCC runs with brake off
-              driver->setPower(mode);
-      } else if (    (tm & TRACK_MODE_DC)
-		 && !(setProg || setJoin)){
-	      //DIAG(F("Processing track - %d setProg %d"), thistrack, setProg);
-              driver->setBrake(true); // DC starts with brake on
-              applyDCSpeed(thistrack);        // speed match DCC throttles
-              driver->setPower(mode);
-      } else if (   (tm & TRACK_MODE_PROG)
-		 && (setProg || setJoin) ){
-              driver->setBrake(true);
-              driver->setBrake(false);
-              driver->setPower(mode);
-      } else if (   (tm & TRACK_MODE_EXT)
-		 || (tm & TRACK_MODE_BOOST)){
-              driver->setBrake(true);
-              driver->setBrake(false);
-              driver->setPower(mode);
+// Set track power for all tracks with this mode
+void TrackManager::setTrackPower(TRACK_MODE trackmode, POWERMODE powermode) {
+  FOR_EACH_TRACK(t) {
+    MotorDriver *driver=track[t]; 
+    if (trackmode & driver->getMode()) {
+      if (powermode == POWERMODE::ON) {
+	if (trackmode & TRACK_MODE_DC) {
+	  driver->setBrake(true);   // DC starts with brake on
+	  applyDCSpeed(t);          // speed match DCC throttles
+	} else {
+	  // toggle brake before turning power on - resets overcurrent error
+	  // on the Pololu board if brake is wired to ^D2.
+	  driver->setBrake(true);
+	  driver->setBrake(false); // DCC runs with brake off
+	}
       }
+      driver->setPower(powermode);
+    }
+  }
 }
 
- void TrackManager::reportPowerChange(Print* stream, byte thistrack) {
+// Set track power for this track, inependent of mode
+void TrackManager::setTrackPower(POWERMODE powermode, byte t) {
+  MotorDriver *driver=track[t]; 
+  TRACK_MODE trackmode = driver->getMode();
+  if (trackmode & TRACK_MODE_DC) {
+    if (powermode == POWERMODE::ON) {
+      driver->setBrake(true);   // DC starts with brake on
+      applyDCSpeed(t);          // speed match DCC throttles
+    }
+  } else {
+    if (powermode == POWERMODE::ON) {
+      // toggle brake before turning power on - resets overcurrent error
+      // on the Pololu board if brake is wired to ^D2.
+      driver->setBrake(true);
+      driver->setBrake(false); // DCC runs with brake off
+    }
+  }
+  driver->setPower(powermode);
+}
+
+void TrackManager::reportPowerChange(Print* stream, byte thistrack) {
   // This function is for backward JMRI compatibility only
   // It reports the first track only, as main, regardless of track settings.
   //  <c MeterName value C/V unit min max res warn>
@@ -524,12 +521,38 @@ void TrackManager::setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byt
             track[0]->raw2mA(track[0]->getCurrentRaw(false)), maxCurrent, maxCurrent);                  
 }
 
+// returns state of the one and only prog track
 POWERMODE TrackManager::getProgPower() {
-    FOR_EACH_TRACK(t)
-      if (track[t]->getMode() & TRACK_MODE_PROG)
-	  return track[t]->getPower();
-    return POWERMODE::OFF;   
+  FOR_EACH_TRACK(t)
+    if (track[t]->getMode() & TRACK_MODE_PROG)
+      return track[t]->getPower(); // optimize: there is max one prog track
+  return POWERMODE::OFF;   
+}
+
+// returns on if all are on. returns off otherwise
+POWERMODE TrackManager::getMainPower() {
+  POWERMODE result = POWERMODE::OFF;
+  FOR_EACH_TRACK(t) {
+    if (track[t]->getMode() & TRACK_MODE_MAIN) {
+      POWERMODE p = track[t]->getPower();
+      if (p == POWERMODE::OFF)
+	return POWERMODE::OFF; // done and out
+      if (p == POWERMODE::ON)
+	result = POWERMODE::ON;
+    }
   }
+  return result;
+}
+
+bool TrackManager::getPower(byte t, char s[]) {
+  if (track[t]) {
+    s[0] = track[t]->getPower() == POWERMODE::ON ? '1' : '0';
+    s[2] = t + 'A';
+    return true;
+  }
+  return false;
+}
+
 
 void TrackManager::reportObsoleteCurrent(Print* stream) {
   // This function is for backward JMRI compatibility only
diff --git a/TrackManager.h b/TrackManager.h
index d1edca2..644c45a 100644
--- a/TrackManager.h
+++ b/TrackManager.h
@@ -62,23 +62,22 @@ class TrackManager {
     static void setDCSignal(int16_t cab, byte speedbyte);
     static MotorDriver * getProgDriver();
 #ifdef ARDUINO_ARCH_ESP32
-  static std::vector<MotorDriver *>getMainDrivers();
+    static std::vector<MotorDriver *>getMainDrivers();
 #endif
   
-    static void setPower2(bool progTrack,bool joinTrack,POWERMODE mode);
     static void setPower(POWERMODE mode) {setMainPower(mode); setProgPower(mode);}
-    static void setMainPower(POWERMODE mode) {setPower2(false,false,mode);}
-    static void setProgPower(POWERMODE mode) {setPower2(true,false,mode);}
-    static void setJoinPower(POWERMODE mode) {setPower2(false,true,mode);}
-    static void setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byte thistrack);
-   
+    static void setTrackPower(POWERMODE mode, byte t);
+    static void setTrackPower(TRACK_MODE trackmode, POWERMODE powermode);
+    static void setMainPower(POWERMODE mode) {setTrackPower(TRACK_MODE_MAIN, mode);}
+    static void setProgPower(POWERMODE mode) {setTrackPower(TRACK_MODE_PROG, mode);}
 
     static const int16_t MAX_TRACKS=8;
     static bool setTrackMode(byte track, TRACK_MODE mode, int16_t DCaddr=0);
     static bool parseJ(Print * stream,  int16_t params, int16_t p[]);
     static void loop();
-    static POWERMODE getMainPower() {return mainPowerGuess;}
+    static POWERMODE getMainPower();
     static POWERMODE getProgPower();
+    static bool getPower(byte t, char s[]);
     static void setJoin(bool join);
     static bool isJoined() { return progTrackSyncMain;}
     static void setJoinRelayPin(byte joinRelayPin);

From 503378f1bbee6d8bb55d60ae3728a2b60f6a908b Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Tue, 14 Nov 2023 00:06:53 +0100
Subject: [PATCH 08/10] version 5.2.1

---
 GITHUB_SHA.h | 2 +-
 version.h    | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/GITHUB_SHA.h b/GITHUB_SHA.h
index 867619e..71069ca 100644
--- a/GITHUB_SHA.h
+++ b/GITHUB_SHA.h
@@ -1 +1 @@
-#define GITHUB_SHA "devel-202311110712Z"
+#define GITHUB_SHA "devel-202311132306Z"
diff --git a/version.h b/version.h
index 4258cf4..5640feb 100644
--- a/version.h
+++ b/version.h
@@ -3,7 +3,8 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "5.2.0"
+#define VERSION "5.2.1"
+// 5.2.1  - Trackmanager rework for simpler structure
 // 5.2.0  - ESP32: Autoreverse and booster mode support
 // 5.1.21 - EXRAIL invoke multiple ON handlers for same event
 // 5.1.20 - EXRAIL Tidy and ROUTE_STATE, ROUTE_CAPTION 

From 763ef8be34743835308ad7eaad31a1d59db8b471 Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Tue, 14 Nov 2023 11:12:14 +0100
Subject: [PATCH 09/10] prettier MAX_TRACKS

---
 CommandDistributor.cpp | 2 +-
 TrackManager.cpp       | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/CommandDistributor.cpp b/CommandDistributor.cpp
index 89c8714..4269492 100644
--- a/CommandDistributor.cpp
+++ b/CommandDistributor.cpp
@@ -249,7 +249,7 @@ void  CommandDistributor::broadcastLoco(byte slot) {
 
 void  CommandDistributor::broadcastPower() {
   char pstr[] = "? x";
-  for(byte t=0; t<8; t++)
+  for(byte t=0; t<TrackManager::MAX_TRACKS; t++)
     if (TrackManager::getPower(t, pstr))
       broadcastReply(COMMAND_TYPE, F("<p%s>\n"),pstr);
 
diff --git a/TrackManager.cpp b/TrackManager.cpp
index ff56001..7c1e651 100644
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -526,7 +526,7 @@ POWERMODE TrackManager::getProgPower() {
   FOR_EACH_TRACK(t)
     if (track[t]->getMode() & TRACK_MODE_PROG)
       return track[t]->getPower(); // optimize: there is max one prog track
-  return POWERMODE::OFF;   
+  return POWERMODE::OFF;
 }
 
 // returns on if all are on. returns off otherwise
@@ -545,6 +545,8 @@ POWERMODE TrackManager::getMainPower() {
 }
 
 bool TrackManager::getPower(byte t, char s[]) {
+  if (t > lastTrack)
+    return false;
   if (track[t]) {
     s[0] = track[t]->getPower() == POWERMODE::ON ? '1' : '0';
     s[2] = t + 'A';

From 1af5132e6aca4dea56636ba5df9f2533d538f17a Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Tue, 14 Nov 2023 11:16:54 +0100
Subject: [PATCH 10/10] version 5.2.1 timestamp

---
 GITHUB_SHA.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/GITHUB_SHA.h b/GITHUB_SHA.h
index 71069ca..3f9b1e1 100644
--- a/GITHUB_SHA.h
+++ b/GITHUB_SHA.h
@@ -1 +1 @@
-#define GITHUB_SHA "devel-202311132306Z"
+#define GITHUB_SHA "devel-202311141013Z"