Committing a SHA

https://github.com/arduino/ArduinoCore-avr/issues/39

.gitignore

@@ -10,6 +10,7 @@ config.h
 .vscode/extensions.json
 mySetup.h
 mySetup.cpp
+myHal.cpp
 myAutomation.h
 myFilter.cpp
 myAutomation.h

CommandDistributor.cpp

@@ -1,6 +1,9 @@
 /*
- *  © 2020,Gregor Baues,  Chris Harlow. All rights reserved.
- *  
+ *  © 2022 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  © 2020 Gregor Baues
+ *  All rights reserved.
+ *
  *  This file is part of CommandStation-EX
  *
  *  This is free software: you can redistribute it and/or modify
@@ -16,16 +19,119 @@
  *  You should have received a copy of the GNU General Public License
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 #include <Arduino.h>
 #include "CommandDistributor.h"
+#include "SerialManager.h"
 #include "WiThrottle.h"
+#include "DIAG.h"
+#include "defines.h"
+#include "DCCWaveform.h"
+#include "DCC.h"
 
-DCCEXParser * CommandDistributor::parser=0; 
+#if defined(BIG_MEMORY) | defined(WIFI_ON) | defined(ETHERNET_ON)
+// This section of CommandDistributor is simply not relevant on a uno or similar
+const byte NO_CLIENT=255;
 
-void  CommandDistributor::parse(byte clientId,byte * buffer, RingStream * streamer) {
- if (buffer[0] == '<')  {
-    if (!parser) parser = new DCCEXParser();
-    parser->parse(streamer, buffer, streamer); 
+RingStream *  CommandDistributor::ring=0;
+byte CommandDistributor::ringClient=NO_CLIENT;
+CommandDistributor::clientType  CommandDistributor::clients[8]={
+  NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE};
+RingStream * CommandDistributor::broadcastBufferWriter=new RingStream(100);
+
+void  CommandDistributor::parse(byte clientId,byte * buffer, RingStream * stream) {
+  ring=stream;
+  ringClient=stream->peekTargetMark();
+  if (buffer[0] == '<')  {
+    clients[clientId]=COMMAND_TYPE;
+    DCCEXParser::parse(stream, buffer, ring);
+  } else {
+    clients[clientId]=WITHROTTLE_TYPE;
+    WiThrottle::getThrottle(clientId)->parse(ring, buffer);
   }
-  else WiThrottle::getThrottle(clientId)->parse(streamer, buffer);
+  ringClient=NO_CLIENT;
+}
+
+void CommandDistributor::forget(byte clientId) {
+  clients[clientId]=NONE_TYPE;
+}
+
+
+void CommandDistributor::broadcast(bool includeWithrottleClients) {
+  broadcastBufferWriter->write((byte)'\0');
+
+  /* Boadcast to Serials */
+  SerialManager::broadcast(broadcastBufferWriter);
+
+#if defined(WIFI_ON) | defined(ETHERNET_ON)
+  // If we are broadcasting from a wifi/eth process we need to complete its output
+  // before merging broadcasts in the ring, then reinstate it in case
+  // the process continues to output to its client.
+  if (ringClient!=NO_CLIENT) ring->commit();
+
+  /* loop through ring clients */
+  for (byte clientId=0; clientId<sizeof(clients); clientId++) {
+    if (clients[clientId]==NONE_TYPE) continue;
+    if ( clients[clientId]==WITHROTTLE_TYPE && !includeWithrottleClients) continue;
+    ring->mark(clientId);
+    broadcastBufferWriter->printBuffer(ring);
+    ring->commit();
+  }
+  if (ringClient!=NO_CLIENT) ring->mark(ringClient);
+
+#endif
+ broadcastBufferWriter->flush();
+}
+#else
+// For a UNO/NANO we can broadcast direct to just one Serial instead of the ring
+// Redirect ring output ditrect to Serial
+#define broadcastBufferWriter &Serial
+// and ignore the internal broadcast call.
+void CommandDistributor::broadcast(bool includeWithrottleClients) {
+  (void)includeWithrottleClients;
+}
+#endif
+
+void  CommandDistributor::broadcastSensor(int16_t id, bool on ) {
+  StringFormatter::send(broadcastBufferWriter,F("<%c %d>\n"), on?'Q':'q', id);
+  broadcast(false);
+}
+
+void  CommandDistributor::broadcastTurnout(int16_t id, bool isClosed ) {
+  // For DCC++ classic compatibility, state reported to JMRI is 1 for thrown and 0 for closed;
+  // The string below contains serial and Withrottle protocols which should
+  // be safe for both types.
+  StringFormatter::send(broadcastBufferWriter,F("<H %d %d>\n"),id, !isClosed);
+#if defined(WIFI_ON) | defined(ETHERNET_ON)
+  StringFormatter::send(broadcastBufferWriter,F("PTA%c%d\n"), isClosed?'2':'4', id);
+#endif
+  broadcast(true);
+}
+
+void  CommandDistributor::broadcastLoco(byte slot) {
+  DCC::LOCO * sp=&DCC::speedTable[slot];
+  StringFormatter::send(broadcastBufferWriter,F("<l %d %d %d %l>\n"),
+			sp->loco,slot,sp->speedCode,sp->functions);
+  broadcast(false);
+#if defined(WIFI_ON) | defined(ETHERNET_ON)
+  WiThrottle::markForBroadcast(sp->loco);
+#endif
+}
+
+void  CommandDistributor::broadcastPower() {
+  bool main=DCCWaveform::mainTrack.getPowerMode()==POWERMODE::ON;
+  bool prog=DCCWaveform::progTrack.getPowerMode()==POWERMODE::ON;
+  bool join=DCCWaveform::progTrackSyncMain;
+  const FSH * reason=F("");
+  char state='1';
+  if (main && prog && join) reason=F(" JOIN");
+  else if (main && prog);
+  else if (main) reason=F(" MAIN");
+  else if (prog) reason=F(" PROG");
+  else state='0';
+
+  StringFormatter::send(broadcastBufferWriter,
+                        F("<p%c%S>\nPPA%c\n"),state,reason, main?'1':'0');
+  LCD(2,F("Power %S%S"),state=='1'?F("On"):F("Off"),reason);
+  broadcast(true);
 }

CommandDistributor.h

@@ -1,6 +1,9 @@
 /*
- *  © 2020,Gregor Baues,  Chris Harlow. All rights reserved.
- *  
+ *  © 2022 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  © 2020 Gregor Baues
+ *  All rights reserved.
+ *
  *  This file is part of CommandStation-EX
  *
  *  This is free software: you can redistribute it and/or modify
@@ -24,9 +27,21 @@
 class CommandDistributor {
 
 public :
-  static void parse(byte clientId,byte* buffer, RingStream * streamer);
+  static void parse(byte clientId,byte* buffer, RingStream * ring);
+  static void broadcastLoco(byte slot);
+  static void broadcastSensor(int16_t id, bool value);
+  static void broadcastTurnout(int16_t id, bool isClosed);
+  static void broadcastPower();
+  static void forget(byte clientId);
 private:
-   static DCCEXParser * parser;
+  static void broadcast(bool includeWithrottleClients);
+  static RingStream * ring;
+  static RingStream * broadcastBufferWriter;
+  static byte ringClient;
+
+   // each bit in broadcastlist = 1<<clientid
+   enum clientType: byte {NONE_TYPE,COMMAND_TYPE,WITHROTTLE_TYPE};
+   static clientType clients[8];
 };
 
 #endif

CommandStation-EX.ino

@@ -1,33 +1,35 @@
 ////////////////////////////////////////////////////////////////////////////////////
-//  DCC-EX CommandStation-EX   Please see https://DCC-EX.com 
+//  DCC-EX CommandStation-EX   Please see https://DCC-EX.com
 //
 // This file is the main sketch for the Command Station.
-// 
-// CONFIGURATION: 
+//
+// CONFIGURATION:
 // Configuration is normally performed by editing a file called config.h.
 // This file is NOT shipped with the code so that if you pull a later version
 // of the code, your configuration will not be overwritten.
 //
 // If you used the automatic installer program, config.h will have been created automatically.
-// 
-// To obtain a starting copy of config.h please copy the file config.example.h which is 
-// shipped with the code and may be updated as new features are added. 
-// 
+//
+// To obtain a starting copy of config.h please copy the file config.example.h which is
+// shipped with the code and may be updated as new features are added.
+//
 // If config.h is not found, config.example.h will be used with all defaults.
 ////////////////////////////////////////////////////////////////////////////////////
 
 #if __has_include ( "config.h")
   #include "config.h"
 #else
-  #warning config.h not found. Using defaults from config.example.h 
+  #warning config.h not found. Using defaults from config.example.h
   #include "config.example.h"
 #endif
 
 
 /*
- *  © 2020,2021 Chris Harlow, Harald Barth, David Cutting, 
- *  Fred Decker, Gregor Baues, Anthony W - Dayton  All rights reserved.
- *  
+ *  © 2021 Neil McKechnie
+ *  © 2020-2021 Chris Harlow, Harald Barth, David Cutting,
+ *  Fred Decker, Gregor Baues, Anthony W - Dayton
+ *  All rights reserved.
+ *
  *  This file is part of CommandStation-EX
  *
  *  This is free software: you can redistribute it and/or modify
@@ -45,11 +47,15 @@
  */
 
 #include "DCCEX.h"
-
-// Create a serial command parser for the USB connection, 
-// This supports JMRI or manual diagnostics and commands
-// to be issued from the USB serial console.
-DCCEXParser serialParser;
+#ifdef WIFI_WARNING
+#warning You have defined that you want WiFi but your hardware has not enough memory to do that, so WiFi DISABLED
+#endif
+#ifdef ETHERNET_WARNING
+#warning You have defined that you want Ethernet but your hardware has not enough memory to do that, so Ethernet DISABLED
+#endif
+#ifdef EXRAIL_WARNING
+#warning You have myAutomation.h but your hardware has not enough memory to do that, so EX-RAIL DISABLED
+#endif
 
 void setup()
 {
@@ -57,15 +63,15 @@ void setup()
 
   // Responsibility 1: Start the usb connection for diagnostics
   // This is normally Serial but uses SerialUSB on a SAMD processor
-  Serial.begin(115200);
+  SerialManager::init();
 
   DIAG(F("License GPLv3 fsf.org (c) dcc-ex.com"));
 
   CONDITIONAL_LCD_START {
-    // This block is still executed for DIAGS if LCD not in use 
+    // This block is still executed for DIAGS if LCD not in use
     LCD(0,F("DCC++ EX v%S"),F(VERSION));
-    LCD(1,F("Lic GPLv3")); 
-    }   
+    LCD(1,F("Lic GPLv3"));
+  }
 
   // Responsibility 2: Start all the communications before the DCC engine
   // Start the WiFi interface on a MEGA, Uno cannot currently handle WiFi
@@ -84,32 +90,26 @@ void setup()
   //  detailed pin mappings and may also require modified subclasses of the MotorDriver to implement specialist logic.
   // STANDARD_MOTOR_SHIELD, POLOLU_MOTOR_SHIELD, FIREBOX_MK1, FIREBOX_MK1S are pre defined in MotorShields.h
   DCC::begin(MOTOR_SHIELD_TYPE);
-         
+
   // Start RMFT (ignored if no automnation)
   RMFT::begin();
-  
-  // Link to and call mySetup() function (if defined in the build in mySetup.cpp).
-  //  The contents will depend on the user's system hardware configuration.
-  //  The mySetup.cpp file is a standard C++ module so has access to all of the DCC++EX APIs.
-  extern __attribute__((weak)) void mySetup();
-  if (mySetup) {
-    mySetup();
-  }
 
-  // Invoke any DCC++EX commands in the form "SETUP("xxxx");"" found in optional file mySetup.h.  
-  //  This can be used to create turnouts, outputs, sensors etc. throught the normal text commands.
+
+  // Invoke any DCC++EX commands in the form "SETUP("xxxx");"" found in optional file mySetup.h.
+  //  This can be used to create turnouts, outputs, sensors etc. through the normal text commands.
   #if __has_include ( "mySetup.h")
-        #define SETUP(cmd) serialParser.parse(F(cmd))  
-        #include "mySetup.h"
-        #undef SETUP
-       #endif
-
-  #if defined(LCN_SERIAL)
-      LCN_SERIAL.begin(115200); 
-      LCN::init(LCN_SERIAL);
+  #define SETUP(cmd) DCCEXParser::parse(F(cmd))
+  #include "mySetup.h"
+  #undef SETUP
   #endif
 
-  LCD(1,F("Ready")); 
+  #if defined(LCN_SERIAL)
+  LCN_SERIAL.begin(115200);
+  LCN::init(LCN_SERIAL);
+  #endif
+
+  LCD(3,F("Ready"));
+  CommandDistributor::broadcastPower();
 }
 
 void loop()
@@ -121,9 +121,9 @@ void loop()
   DCC::loop();
 
   // Responsibility 2: handle any incoming commands on USB connection
-  serialParser.loop(Serial);
+  SerialManager::loop();
 
-// Responsibility 3: Optionally handle any incoming WiFi traffic
+  // Responsibility 3: Optionally handle any incoming WiFi traffic
 #if WIFI_ON
   WifiInterface::loop();
 #endif
@@ -133,22 +133,23 @@ void loop()
 
   RMFT::loop();  // ignored if no automation
 
-  #if defined(LCN_SERIAL) 
-      LCN::loop();
+  #if defined(LCN_SERIAL)
+  LCN::loop();
   #endif
 
-  LCDDisplay::loop();  // ignored if LCD not in use 
+  LCDDisplay::loop();  // ignored if LCD not in use
 
   // Handle/update IO devices.
   IODevice::loop();
-  
+
+  Sensor::checkAll(); // Update and print changes
+
   // Report any decrease in memory (will automatically trigger on first call)
-  static int ramLowWatermark = __INT_MAX__; // replaced on first loop 
+  static int ramLowWatermark = __INT_MAX__; // replaced on first loop
 
   int freeNow = minimumFreeMemory();
-  if (freeNow < ramLowWatermark)
-  {
+  if (freeNow < ramLowWatermark) {
     ramLowWatermark = freeNow;
-    LCD(2,F("Free RAM=%5db"), ramLowWatermark);
+    LCD(3,F("Free RAM=%5db"), ramLowWatermark);
   }
 }

DCC.cpp

@@ -1,7 +1,13 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
- *  © 2020, Harald Barth
- *  
+ *  © 2021 Neil McKechnie
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2021 Herb Morton
+ *  © 2020-2022 Harald Barth
+ *  © 2020-2021 M Steve Todd
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
+ *
  *  This file is part of Asbelos DCC API
  *
  *  This is free software: you can redistribute it and/or modify
@@ -17,21 +23,18 @@
  *  You should have received a copy of the GNU General Public License
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
-
-#if __has_include ( "config.h")
-  #include "config.h"
-#else
-  #include "config.example.h"
-#endif
-
 #include "DIAG.h"
 #include "DCC.h"
 #include "DCCWaveform.h"
+#ifndef DISABLE_EEPROM
 #include "EEStore.h"
+#endif
 #include "GITHUB_SHA.h"
 #include "version.h"
 #include "FSH.h"
 #include "IODevice.h"
+#include "RMFT2.h"
+#include "CommandDistributor.h"
 
 // This module is responsible for converting API calls into
 // messages to be sent to the waveform generator.
@@ -46,11 +49,11 @@
 //   Obtaining ACKs from the prog track using a function
 //   There are no volatiles here.
 
-const byte FN_GROUP_1=0x01;         
-const byte FN_GROUP_2=0x02;         
-const byte FN_GROUP_3=0x04;         
-const byte FN_GROUP_4=0x08;         
-const byte FN_GROUP_5=0x10;         
+const byte FN_GROUP_1=0x01;
+const byte FN_GROUP_2=0x02;
+const byte FN_GROUP_3=0x04;
+const byte FN_GROUP_4=0x08;
+const byte FN_GROUP_5=0x10;
 
 FSH* DCC::shieldName=NULL;
 byte DCC::joinRelay=UNUSED_PIN;
@@ -63,11 +66,13 @@ void DCC::begin(const FSH * motorShieldName, MotorDriver * mainDriver, MotorDriv
   // Initialise HAL layer before reading EEprom.
   IODevice::begin();
 
+#ifndef DISABLE_EEPROM
   // Load stuff from EEprom
   (void)EEPROM; // tell compiler not to warn this is unused
   EEStore::init();
+#endif
 
-  DCCWaveform::begin(mainDriver,progDriver); 
+  DCCWaveform::begin(mainDriver,progDriver);
 }
 
 void DCC::setJoinRelayPin(byte joinRelayPin) {
@@ -79,7 +84,7 @@ void DCC::setJoinRelayPin(byte joinRelayPin) {
 }
 
 void DCC::setThrottle( uint16_t cab, uint8_t tSpeed, bool tDirection)  {
-  byte speedCode = (tSpeed & 0x7F)  + tDirection * 128; 
+  byte speedCode = (tSpeed & 0x7F)  + tDirection * 128;
   setThrottle2(cab, speedCode);
   // retain speed for loco reminders
   updateLocoReminder(cab, speedCode );
@@ -90,8 +95,8 @@ void DCC::setThrottle2( uint16_t cab, byte speedCode)  {
   uint8_t b[4];
   uint8_t nB = 0;
   // DIAG(F("setSpeedInternal %d %x"),cab,speedCode);
-  
-  if (cab > 127)
+
+  if (cab > HIGHEST_SHORT_ADDR)
     b[nB++] = highByte(cab) | 0xC0;    // convert train number into a two-byte address
   b[nB++] = lowByte(cab);
 
@@ -131,7 +136,7 @@ void DCC::setFunctionInternal(int cab, byte byte1, byte byte2) {
   byte b[4];
   byte nB = 0;
 
-  if (cab > 127)
+  if (cab > HIGHEST_SHORT_ADDR)
     b[nB++] = highByte(cab) | 0xC0;    // convert train number into a two-byte address
   b[nB++] = lowByte(cab);
   if (byte1!=0) b[nB++] = byte1;
@@ -148,93 +153,74 @@ uint8_t DCC::getThrottleSpeed(int cab) {
 
 bool DCC::getThrottleDirection(int cab) {
   int reg=lookupSpeedTable(cab);
-  if (reg<0) return false ;
+  if (reg<0) return true;
   return (speedTable[reg].speedCode & 0x80) !=0;
 }
 
 // Set function to value on or off
 void DCC::setFn( int cab, int16_t functionNumber, bool on) {
   if (cab<=0 ) return;
-  
-  if (functionNumber>28) { 
-    //non reminding advanced binary bit set 
+
+  if (functionNumber>28) {
+    //non reminding advanced binary bit set
     byte b[5];
     byte nB = 0;
-    if (cab > 127)
+    if (cab > HIGHEST_SHORT_ADDR)
       b[nB++] = highByte(cab) | 0xC0;    // convert train number into a two-byte address
     b[nB++] = lowByte(cab);
     if (functionNumber <= 127) {
-       b[nB++] = 0b11011101;   // Binary State Control Instruction short form  
+       b[nB++] = 0b11011101;   // Binary State Control Instruction short form
        b[nB++] = functionNumber | (on ? 0x80 : 0);
     }
     else  {
-       b[nB++] = 0b11000000;   // Binary State Control Instruction long form  
+       b[nB++] = 0b11000000;   // Binary State Control Instruction long form
        b[nB++] = (functionNumber & 0x7F) | (on ? 0x80 : 0);  // low order bits and state flag
        b[nB++] = functionNumber >>7 ;  // high order bits
     }
     DCCWaveform::mainTrack.schedulePacket(b, nB, 4);
     return;
   }
-  
+
   int reg = lookupSpeedTable(cab);
-  if (reg<0) return;  
+  if (reg<0) return;
 
   // Take care of functions:
   // Set state of function
+  unsigned long previous=speedTable[reg].functions;
   unsigned long funcmask = (1UL<<functionNumber);
   if (on) {
       speedTable[reg].functions |= funcmask;
   } else {
       speedTable[reg].functions &= ~funcmask;
   }
-  updateGroupflags(speedTable[reg].groupFlags, functionNumber);
-  return;
+  if (speedTable[reg].functions != previous) {
+    updateGroupflags(speedTable[reg].groupFlags, functionNumber);
+    CommandDistributor::broadcastLoco(reg);
+  }
 }
 
-// Change function according to how button was pressed,
-// typically in WiThrottle.
-// Returns new state or -1 if nothing was changed.
-int DCC::changeFn( int cab, int16_t functionNumber, bool pressed) {
-  int funcstate = -1;
-  if (cab<=0 || functionNumber>28) return funcstate;
+// Flip function state
+void DCC::changeFn( int cab, int16_t functionNumber) {
+  if (cab<=0 || functionNumber>28) return;
   int reg = lookupSpeedTable(cab);
-  if (reg<0) return funcstate;  
-
-  // Take care of functions:
-  // Imitate how many command stations do it: Button press is
-  // toggle but for F2 where it is momentary
+  if (reg<0) return;
   unsigned long funcmask = (1UL<<functionNumber);
-  if (functionNumber == 2) {
-      // turn on F2 on press and off again at release of button
-      if (pressed) {
-	  speedTable[reg].functions |= funcmask;
-	  funcstate = 1;
-      } else {
-	  speedTable[reg].functions &= ~funcmask;
-	  funcstate = 0;
-      }
-  } else {
-      // toggle function on press, ignore release
-      if (pressed) {
-        speedTable[reg].functions ^= funcmask;
-      }
-      funcstate = (speedTable[reg].functions & funcmask)? 1 : 0;
-  }
+  speedTable[reg].functions ^= funcmask;
   updateGroupflags(speedTable[reg].groupFlags, functionNumber);
-  return funcstate;
+  CommandDistributor::broadcastLoco(reg);
 }
 
 int DCC::getFn( int cab, int16_t functionNumber) {
   if (cab<=0 || functionNumber>28) return -1;  // unknown
   int reg = lookupSpeedTable(cab);
-  if (reg<0) return -1;  
+  if (reg<0) return -1;
 
   unsigned long funcmask = (1UL<<functionNumber);
   return  (speedTable[reg].functions & funcmask)? 1 : 0;
 }
 
 // Set the group flag to say we have touched the particular group.
-// A group will be reminded only if it has been touched.  
+// A group will be reminded only if it has been touched.
 void DCC::updateGroupflags(byte & flags, int16_t functionNumber) {
   byte groupMask;
   if (functionNumber<=4)       groupMask=FN_GROUP_1;
@@ -242,10 +228,19 @@ void DCC::updateGroupflags(byte & flags, int16_t functionNumber) {
   else if (functionNumber<=12) groupMask=FN_GROUP_3;
   else if (functionNumber<=20) groupMask=FN_GROUP_4;
   else                         groupMask=FN_GROUP_5;
-  flags |= groupMask; 
+  flags |= groupMask;
+}
+
+uint32_t DCC::getFunctionMap(int cab) {
+  if (cab<=0) return 0;  // unknown pretend all functions off
+  int reg = lookupSpeedTable(cab);
+  return (reg<0)?0:speedTable[reg].functions;
 }
 
 void DCC::setAccessory(int address, byte number, bool activate) {
+  #ifdef DIAG_IO
+  DIAG(F("DCC::setAccessory(%d,%d,%d)"), address, number, activate);
+  #endif
   // use masks to detect wrong values and do nothing
   if(address != (address & 511))
     return;
@@ -253,17 +248,13 @@ void DCC::setAccessory(int address, byte number, bool activate) {
     return;
   byte b[2];
 
-  // first byte is of the form 10AAAAAA, where AAAAAA represent 6 least signifcant bits of accessory address
-  b[0] = address % 64 + 128;
-  // second byte is of the form 1AAACDDD, where C should be 1, and the least significant D represent activate/deactivate
-  // if we follow RCN-213, activate has to be reversed because in DCC++/DCC-EX activate=1 is "thrown, diverging",
-  // but in RCN-213, 1 means "closed, straight" and 0 "thrown, diverging"
-#ifdef TURNOUTS_RCN_213
-  activate = !activate;
-#endif
-  b[1] = ((((address / 64) % 8) << 4) + (number % 4 << 1) + activate % 2) ^ 0xF8;
+  b[0] = address % 64 + 128;                                     // first byte is of the form 10AAAAAA, where AAAAAA represent 6 least signifcant bits of accessory address
+  b[1] = ((((address / 64) % 8) << 4) + (number % 4 << 1) + activate % 2) ^ 0xF8; // second byte is of the form 1AAACDDD, where C should be 1, and the least significant D represent activate/deactivate
 
   DCCWaveform::mainTrack.schedulePacket(b, 2, 4);      // Repeat the packet four times
+#if defined(RMFT_ACTIVE)
+  RMFT2::activateEvent(address<<2|number,activate);
+#endif
 }
 
 //
@@ -273,7 +264,7 @@ void DCC::setAccessory(int address, byte number, bool activate) {
 void DCC::writeCVByteMain(int cab, int cv, byte bValue)  {
   byte b[5];
   byte nB = 0;
-  if (cab > 127)
+  if (cab > HIGHEST_SHORT_ADDR)
     b[nB++] = highByte(cab) | 0xC0;    // convert train number into a two-byte address
 
   b[nB++] = lowByte(cab);
@@ -294,7 +285,7 @@ void DCC::writeCVBitMain(int cab, int cv, byte bNum, bool bValue)  {
   bValue = bValue % 2;
   bNum = bNum % 8;
 
-  if (cab > 127)
+  if (cab > HIGHEST_SHORT_ADDR)
     b[nB++] = highByte(cab) | 0xC0;    // convert train number into a two-byte address
 
   b[nB++] = lowByte(cab);
@@ -316,63 +307,64 @@ void DCC::setProgTrackBoost(bool on) {
 FSH* DCC::getMotorShieldName() {
   return shieldName;
 }
-  
+
 const ackOp FLASH WRITE_BIT0_PROG[] = {
      BASELINE,
      W0,WACK,
-     V0, WACK,  // validate bit is 0 
+     V0, WACK,  // validate bit is 0
      ITC1,      // if acked, callback(1)
      FAIL  // callback (-1)
 };
 const ackOp FLASH WRITE_BIT1_PROG[] = {
      BASELINE,
      W1,WACK,
-     V1, WACK,  // validate bit is 1 
+     V1, WACK,  // validate bit is 1
      ITC1,      // if acked, callback(1)
      FAIL  // callback (-1)
 };
 
 const ackOp FLASH VERIFY_BIT0_PROG[] = {
      BASELINE,
-     V0, WACK,  // validate bit is 0 
+     V0, WACK,  // validate bit is 0
      ITC0,      // if acked, callback(0)
      V1, WACK,  // validate bit is 1
-     ITC1,       
+     ITC1,
      FAIL  // callback (-1)
 };
 const ackOp FLASH VERIFY_BIT1_PROG[] = {
      BASELINE,
-     V1, WACK,  // validate bit is 1 
+     V1, WACK,  // validate bit is 1
      ITC1,      // if acked, callback(1)
-     V0, WACK, 
+     V0, WACK,
      ITC0,
      FAIL  // callback (-1)
 };
 
 const ackOp FLASH READ_BIT_PROG[] = {
      BASELINE,
-     V1, WACK,  // validate bit is 1 
+     V1, WACK,  // validate bit is 1
      ITC1,      // if acked, callback(1)
      V0, WACK,  // validate bit is zero
      ITC0,      // if acked callback 0
-     FAIL       // bit not readable 
+     FAIL       // bit not readable
      };
-     
+
 const ackOp FLASH WRITE_BYTE_PROG[] = {
       BASELINE,
-      WB,WACK,ITC1,    // Write and callback(1) if ACK 
-      // handle decoders that dont ack a write 
-      VB,WACK,ITC1,    // validate byte and callback(1) if correct 
+      WB,WACK,ITC1,    // Write and callback(1) if ACK
+      // handle decoders that dont ack a write
+      VB,WACK,ITC1,    // validate byte and callback(1) if correct
       FAIL        // callback (-1)
       };
-      
+
 const ackOp FLASH VERIFY_BYTE_PROG[] = {
       BASELINE,
-      VB,WACK,     // validate byte 
-      ITCB,       // if ok callback value
+      BIV,         // ackManagerByte initial value
+      VB,WACK,     // validate byte
+      ITCB,       // if ok callback value	
       STARTMERGE,    //clear bit and byte values ready for merge pass
       // each bit is validated against 0 and the result inverted in MERGE
-      // this is because there tend to be more zeros in cv values than ones.  
+      // this is because there tend to be more zeros in cv values than ones.
       // There is no need for one validation as entire byte is validated at the end
       V0, WACK, MERGE,        // read and merge first tested bit (7)
       ITSKIP,                 // do small excursion if there was no ack
@@ -387,15 +379,15 @@ const ackOp FLASH VERIFY_BYTE_PROG[] = {
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       V0, WACK, MERGE,
-      VB, WACK, ITCB,  // verify merged byte and return it if acked ok 
+      VB, WACK, ITCBV,  // verify merged byte and return it if acked ok - with retry report
       FAIL };
-      
-      
+
+
 const ackOp FLASH READ_CV_PROG[] = {
       BASELINE,
       STARTMERGE,    //clear bit and byte values ready for merge pass
       // each bit is validated against 0 and the result inverted in MERGE
-      // this is because there tend to be more zeros in cv values than ones.  
+      // this is because there tend to be more zeros in cv values than ones.
       // There is no need for one validation as entire byte is validated at the end
       V0, WACK, MERGE,        // read and merge first tested bit (7)
       ITSKIP,                 // do small excursion if there was no ack
@@ -410,20 +402,20 @@ const ackOp FLASH READ_CV_PROG[] = {
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       V0, WACK, MERGE,
-      VB, WACK, ITCB,  // verify merged byte and return it if acked ok 
+      VB, WACK, ITCB,  // verify merged byte and return it if acked ok
       FAIL };          // verification failed
 
 
 const ackOp FLASH LOCO_ID_PROG[] = {
       BASELINE,
       SETCV, (ackOp)19,     // CV 19 is consist setting
-      SETBYTE, (ackOp)0,    
+      SETBYTE, (ackOp)0,
       VB, WACK, ITSKIP,     // ignore consist if cv19 is zero (no consist)
       SETBYTE, (ackOp)128,
       VB, WACK, ITSKIP,     // ignore consist if cv19 is 128 (no consist, direction bit set)
       STARTMERGE,           // Setup to read cv 19
-      V0, WACK, MERGE,  
-      V0, WACK, MERGE,  
+      V0, WACK, MERGE,
+      V0, WACK, MERGE,
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       V0, WACK, MERGE,
@@ -431,13 +423,13 @@ const ackOp FLASH LOCO_ID_PROG[] = {
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       VB, WACK, ITCB7,  // return 7 bits only, No_ACK means CV19 not supported so ignore it
-      
-      SKIPTARGET,     // continue here if CV 19 is zero or fails all validation      
+
+      SKIPTARGET,     // continue here if CV 19 is zero or fails all validation
       SETCV,(ackOp)29,
       SETBIT,(ackOp)5,
       V0, WACK, ITSKIP,  // Skip to SKIPTARGET if bit 5 of CV29 is zero
-      
-      // Long locoid  
+
+      // Long locoid
       SETCV, (ackOp)17,       // CV 17 is part of locoid
       STARTMERGE,
       V0, WACK, MERGE,  // read and merge bit 1 etc
@@ -449,8 +441,8 @@ const ackOp FLASH LOCO_ID_PROG[] = {
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       VB, WACK, NAKFAIL,  // verify merged byte and return -1 it if not acked ok
-      STASHLOCOID,         // keep stashed cv 17 for later 
-      // Read 2nd part from CV 18 
+      STASHLOCOID,         // keep stashed cv 17 for later
+      // Read 2nd part from CV 18
       SETCV, (ackOp)18,
       STARTMERGE,
       V0, WACK, MERGE,  // read and merge bit 1 etc
@@ -463,8 +455,8 @@ const ackOp FLASH LOCO_ID_PROG[] = {
       V0, WACK, MERGE,
       VB, WACK, NAKFAIL,  // verify merged byte and return -1 it if not acked ok
       COMBINELOCOID,        // Combile byte with stash to make long locoid and callback
-      
-      // ITSKIP Skips to here if CV 29 bit 5 was zero. so read CV 1 and return that  
+
+      // ITSKIP Skips to here if CV 29 bit 5 was zero. so read CV 1 and return that
       SKIPTARGET,
       SETCV, (ackOp)1,
       STARTMERGE,
@@ -478,7 +470,7 @@ const ackOp FLASH LOCO_ID_PROG[] = {
       V0, WACK, MERGE,
       VB, WACK, ITCB,  // verify merged byte and callback
       FAIL
-      };    
+      };
 
 const ackOp FLASH SHORT_LOCO_ID_PROG[] = {
       BASELINE,
@@ -490,12 +482,12 @@ const ackOp FLASH SHORT_LOCO_ID_PROG[] = {
       SETBIT,(ackOp)5,
       W0,WACK,
       V0,WACK,NAKFAIL,
-      SETCV, (ackOp)1,   
-      SETBYTEL,   // low byte of word 
+      SETCV, (ackOp)1,
+      SETBYTEL,   // low byte of word
       WB,WACK,    // some decoders don't ACK writes
       VB,WACK,ITCB,
       FAIL
-};    
+};
 
 const ackOp FLASH LONG_LOCO_ID_PROG[] = {
       BASELINE,
@@ -510,16 +502,16 @@ const ackOp FLASH LONG_LOCO_ID_PROG[] = {
       V1,WACK,NAKFAIL,
       // Store high byte of address in cv 17
       SETCV, (ackOp)17,
-      SETBYTEH,   // high byte of word 
+      SETBYTEH,   // high byte of word
       WB,WACK,
       VB,WACK,NAKFAIL,
-      // store 
+      // store
       SETCV, (ackOp)18,
-      SETBYTEL,   // low byte of word 
+      SETBYTEL,   // low byte of word
       WB,WACK,
       VB,WACK,ITC1,   // callback(1) means Ok
       FAIL
-};    
+};
 
 void  DCC::writeCVByte(int16_t cv, byte byteValue, ACK_CALLBACK callback)  {
   ackManagerSetup(cv, byteValue,  WRITE_BYTE_PROG, callback);
@@ -558,24 +550,24 @@ void DCC::setLocoId(int id,ACK_CALLBACK callback) {
     callback(-1);
     return;
   }
-  if (id<=127)
+  if (id<=HIGHEST_SHORT_ADDR)
       ackManagerSetup(id, SHORT_LOCO_ID_PROG, callback);
   else
       ackManagerSetup(id | 0xc000,LONG_LOCO_ID_PROG, callback);
 }
 
 void DCC::forgetLoco(int cab) {  // removes any speed reminders for this loco
-  setThrottle2(cab,1); // ESTOP this loco if still on track  
+  setThrottle2(cab,1); // ESTOP this loco if still on track
   int reg=lookupSpeedTable(cab);
   if (reg>=0) speedTable[reg].loco=0;
   setThrottle2(cab,1); // ESTOP if this loco still on track
 }
 void DCC::forgetAllLocos() {  // removes all speed reminders
-  setThrottle2(0,1); // ESTOP all locos still on track      
+  setThrottle2(0,1); // ESTOP all locos still on track
   for (int i=0;i<MAX_LOCOS;i++) speedTable[i].loco=0;
 }
 
-byte DCC::loopStatus=0;  
+byte DCC::loopStatus=0;
 
 void DCC::loop()  {
   DCCWaveform::loop(ackManagerProg!=NULL); // power overload checks
@@ -590,58 +582,58 @@ void DCC::issueReminders() {
   // This loop searches for a loco in the speed table starting at nextLoco and cycling back around
   for (int reg=0;reg<MAX_LOCOS;reg++) {
        int slot=reg+nextLoco;
-       if (slot>=MAX_LOCOS) slot-=MAX_LOCOS; 
+       if (slot>=MAX_LOCOS) slot-=MAX_LOCOS;
        if (speedTable[slot].loco > 0) {
-          // have found the next loco to remind 
+          // have found the next loco to remind
           // issueReminder will return true if this loco is completed (ie speed and functions)
-          if (issueReminder(slot)) nextLoco=slot+1; 
+          if (issueReminder(slot)) nextLoco=slot+1;
           return;
         }
   }
 }
- 
+
 bool DCC::issueReminder(int reg) {
   unsigned long functions=speedTable[reg].functions;
   int loco=speedTable[reg].loco;
   byte flags=speedTable[reg].groupFlags;
-  
+
   switch (loopStatus) {
         case 0:
       //   DIAG(F("Reminder %d speed %d"),loco,speedTable[reg].speedCode);
          setThrottle2(loco, speedTable[reg].speedCode);
          break;
        case 1: // remind function group 1 (F0-F4)
-          if (flags & FN_GROUP_1) 
+          if (flags & FN_GROUP_1)
               setFunctionInternal(loco,0, 128 | ((functions>>1)& 0x0F) | ((functions & 0x01)<<4)); // 100D DDDD
-          break;     
+          break;
        case 2: // remind function group 2 F5-F8
-          if (flags & FN_GROUP_2) 
+          if (flags & FN_GROUP_2)
               setFunctionInternal(loco,0, 176 | ((functions>>5)& 0x0F));                           // 1011 DDDD
-          break;     
+          break;
        case 3: // remind function group 3 F9-F12
-          if (flags & FN_GROUP_3) 
+          if (flags & FN_GROUP_3)
               setFunctionInternal(loco,0, 160 | ((functions>>9)& 0x0F));                           // 1010 DDDD
-          break;   
+          break;
        case 4: // remind function group 4 F13-F20
-          if (flags & FN_GROUP_4) 
-              setFunctionInternal(loco,222, ((functions>>13)& 0xFF)); 
+          if (flags & FN_GROUP_4)
+              setFunctionInternal(loco,222, ((functions>>13)& 0xFF));
           flags&= ~FN_GROUP_4;  // dont send them again
-          break;  
+          break;
        case 5: // remind function group 5 F21-F28
           if (flags & FN_GROUP_5)
-              setFunctionInternal(loco,223, ((functions>>21)& 0xFF)); 
+              setFunctionInternal(loco,223, ((functions>>21)& 0xFF));
           flags&= ~FN_GROUP_5;  // dont send them again
-          break; 
+          break;
       }
       loopStatus++;
       // if we reach status 6 then this loco is done so
-      // reset status to 0 for next loco and return true so caller 
-      // moves on to next loco. 
+      // reset status to 0 for next loco and return true so caller
+      // moves on to next loco.
       if (loopStatus>5) loopStatus=0;
       return loopStatus==0;
     }
- 
- 
+
+
 
 
 ///// Private helper functions below here /////////////////////
@@ -676,20 +668,28 @@ int DCC::lookupSpeedTable(int locoId) {
   }
   return reg;
 }
-  
+
 void  DCC::updateLocoReminder(int loco, byte speedCode) {
- 
+
   if (loco==0) {
      // broadcast stop/estop but dont change direction
      for (int reg = 0; reg < MAX_LOCOS; reg++) {
-       speedTable[reg].speedCode = (speedTable[reg].speedCode & 0x80) |  (speedCode & 0x7f);
+       if (speedTable[reg].loco==0) continue;
+       byte newspeed=(speedTable[reg].speedCode & 0x80) |  (speedCode & 0x7f);
+       if (speedTable[reg].speedCode != newspeed) {
+         speedTable[reg].speedCode = newspeed;
+         CommandDistributor::broadcastLoco(reg);
+       }
      }
-     return; 
+     return;
   }
-  
+
   // determine speed reg for this loco
-  int reg=lookupSpeedTable(loco);       
-  if (reg>=0) speedTable[reg].speedCode = speedCode;
+  int reg=lookupSpeedTable(loco);
+  if (reg>=0 && speedTable[reg].speedCode!=speedCode) {
+    speedTable[reg].speedCode = speedCode;
+    CommandDistributor::broadcastLoco(reg);
+  }
 }
 
 DCC::LOCO DCC::speedTable[MAX_LOCOS];
@@ -697,9 +697,15 @@ int DCC::nextLoco = 0;
 
 //ACK MANAGER
 ackOp  const *  DCC::ackManagerProg;
+ackOp  const *  DCC::ackManagerProgStart;
 byte   DCC::ackManagerByte;
+byte   DCC::ackManagerByteVerify;
 byte   DCC::ackManagerStash;
 int    DCC::ackManagerWord;
+byte   DCC::ackManagerRetry;
+byte   DCC::ackRetry = 2;
+int16_t  DCC::ackRetrySum;
+int16_t  DCC::ackRetryPSum;
 int    DCC::ackManagerCv;
 byte   DCC::ackManagerBitNum;
 bool   DCC::ackReceived;
@@ -715,24 +721,27 @@ void  DCC::ackManagerSetup(int cv, byte byteValueOrBitnum, ackOp const program[]
     return;
   }
 
-  ackManagerRejoin=DCCWaveform::progTrackSyncMain;     
+  ackManagerRejoin=DCCWaveform::progTrackSyncMain;
   if (ackManagerRejoin ) {
         // Change from JOIN must zero resets packet.
         setProgTrackSyncMain(false);
-        DCCWaveform::progTrack.sentResetsSincePacket = 0;      
+        DCCWaveform::progTrack.sentResetsSincePacket = 0;
       }
-      
-   DCCWaveform::progTrack.autoPowerOff=false;           
+
+   DCCWaveform::progTrack.autoPowerOff=false;
    if (DCCWaveform::progTrack.getPowerMode() == POWERMODE::OFF) {
-        DCCWaveform::progTrack.autoPowerOff=true;  // power off afterwards           
+        DCCWaveform::progTrack.autoPowerOff=true;  // power off afterwards
         if (Diag::ACK) DIAG(F("Auto Prog power on"));
         DCCWaveform::progTrack.setPowerMode(POWERMODE::ON);
-        DCCWaveform::progTrack.sentResetsSincePacket = 0;      
+        DCCWaveform::progTrack.sentResetsSincePacket = 0;
     }
 
   ackManagerCv = cv;
   ackManagerProg = program;
+  ackManagerProgStart = program;
+  ackManagerRetry = ackRetry;
   ackManagerByte = byteValueOrBitnum;
+  ackManagerByteVerify = byteValueOrBitnum;
   ackManagerBitNum=byteValueOrBitnum;
   ackManagerCallback = callback;
 }
@@ -752,66 +761,67 @@ bool DCC::checkResets(uint8_t numResets) {
 void DCC::ackManagerLoop() {
   while (ackManagerProg) {
     byte opcode=GETFLASH(ackManagerProg);
-    
+
     // breaks from this switch will step to next prog entry
     // returns from this switch will stay on same entry
     // (typically waiting for a reset counter or ACK waiting, or when all finished.)
     switch (opcode) {
       case BASELINE:
+          if (DCCWaveform::progTrack.getPowerMode()==POWERMODE::OVERLOAD) return;
       	  if (checkResets(DCCWaveform::progTrack.autoPowerOff || ackManagerRejoin  ? 20 : 3)) return;
           DCCWaveform::progTrack.setAckBaseline();
           callbackState=READY;
-          break;   
-      case W0:    // write 0 bit 
-      case W1:    // write 1 bit 
+          break;
+      case W0:    // write 0 bit
+      case W1:    // write 1 bit
             {
 	      if (checkResets(RESET_MIN)) return;
-              if (Diag::ACK) DIAG(F("W%d cv=%d bit=%d"),opcode==W1, ackManagerCv,ackManagerBitNum); 
+              if (Diag::ACK) DIAG(F("W%d cv=%d bit=%d"),opcode==W1, ackManagerCv,ackManagerBitNum);
               byte instruction = WRITE_BIT | (opcode==W1 ? BIT_ON : BIT_OFF) | ackManagerBitNum;
               byte message[] = {cv1(BIT_MANIPULATE, ackManagerCv), cv2(ackManagerCv), instruction };
               DCCWaveform::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
-              DCCWaveform::progTrack.setAckPending(); 
+              DCCWaveform::progTrack.setAckPending();
              callbackState=AFTER_WRITE;
          }
-            break; 
-      
-      case WB:   // write byte 
+            break;
+
+      case WB:   // write byte
             {
 	      if (checkResets( RESET_MIN)) return;
               if (Diag::ACK) DIAG(F("WB cv=%d value=%d"),ackManagerCv,ackManagerByte);
               byte message[] = {cv1(WRITE_BYTE, ackManagerCv), cv2(ackManagerCv), ackManagerByte};
               DCCWaveform::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
-              DCCWaveform::progTrack.setAckPending(); 
+              DCCWaveform::progTrack.setAckPending();
               callbackState=AFTER_WRITE;
             }
             break;
-      
+
       case   VB:     // Issue validate Byte packet
         {
-	  if (checkResets( RESET_MIN)) return; 
+	  if (checkResets( RESET_MIN)) return;
           if (Diag::ACK) DIAG(F("VB cv=%d value=%d"),ackManagerCv,ackManagerByte);
           byte message[] = { cv1(VERIFY_BYTE, ackManagerCv), cv2(ackManagerCv), ackManagerByte};
           DCCWaveform::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
-          DCCWaveform::progTrack.setAckPending(); 
+          DCCWaveform::progTrack.setAckPending();
         }
         break;
-      
+
       case V0:
       case V1:      // Issue validate bit=0 or bit=1  packet
         {
-	  if (checkResets(RESET_MIN)) return; 
-          if (Diag::ACK) DIAG(F("V%d cv=%d bit=%d"),opcode==V1, ackManagerCv,ackManagerBitNum); 
+	  if (checkResets(RESET_MIN)) return;
+          if (Diag::ACK) DIAG(F("V%d cv=%d bit=%d"),opcode==V1, ackManagerCv,ackManagerBitNum);
           byte instruction = VERIFY_BIT | (opcode==V0?BIT_OFF:BIT_ON) | ackManagerBitNum;
           byte message[] = {cv1(BIT_MANIPULATE, ackManagerCv), cv2(ackManagerCv), instruction };
           DCCWaveform::progTrack.schedulePacket(message, sizeof(message), PROG_REPEATS);
-          DCCWaveform::progTrack.setAckPending(); 
+          DCCWaveform::progTrack.setAckPending();
         }
         break;
-      
+
       case WACK:   // wait for ack (or absence of ack)
          {
           byte ackState=2; // keep polling
-      
+
           ackState=DCCWaveform::progTrack.getAck();
           if (ackState==2) return; // keep polling
           ackReceived=ackState==1;
@@ -824,103 +834,127 @@ void DCC::ackManagerLoop() {
             return;
           }
         break;
-        
+
       case ITCB:   // If True callback(byte)
           if (ackReceived) {
             callback(ackManagerByte);
             return;
           }
         break;
-
+		
+      case ITCBV:   // If True callback(byte) - Verify
+          if (ackReceived) {
+            if (ackManagerByte == ackManagerByteVerify) {
+               ackRetrySum ++;
+               LCD(1, F("v %d %d Sum=%d"), ackManagerCv, ackManagerByte, ackRetrySum);
+            }
+            callback(ackManagerByte);
+            return;
+          }
+        break;
+		
       case ITCB7:   // If True callback(byte & 0x7F)
           if (ackReceived) {
             callback(ackManagerByte & 0x7F);
             return;
           }
         break;
-        
+
       case NAKFAIL:   // If nack callback(-1)
           if (!ackReceived) {
             callback(-1);
             return;
           }
         break;
-        
+
       case FAIL:  // callback(-1)
            callback(-1);
            return;
-           
+
+      case BIV:     // ackManagerByte initial value
+           ackManagerByte = ackManagerByteVerify;
+           break;
+
       case STARTMERGE:
            ackManagerBitNum=7;
-           ackManagerByte=0;     
+           ackManagerByte=0;
           break;
-          
+
       case MERGE:  // Merge previous Validate zero wack response with byte value and update bit number (use for reading CV bytes)
           ackManagerByte <<= 1;
-          // ackReceived means bit is zero. 
+          // ackReceived means bit is zero.
           if (!ackReceived) ackManagerByte |= 1;
           ackManagerBitNum--;
           break;
 
       case SETBIT:
-          ackManagerProg++; 
+          ackManagerProg++;
           ackManagerBitNum=GETFLASH(ackManagerProg);
           break;
 
      case SETCV:
-          ackManagerProg++; 
+          ackManagerProg++;
           ackManagerCv=GETFLASH(ackManagerProg);
           break;
 
      case SETBYTE:
-          ackManagerProg++; 
+          ackManagerProg++;
           ackManagerByte=GETFLASH(ackManagerProg);
           break;
 
     case SETBYTEH:
           ackManagerByte=highByte(ackManagerWord);
           break;
-          
+
     case SETBYTEL:
           ackManagerByte=lowByte(ackManagerWord);
           break;
 
      case STASHLOCOID:
-          ackManagerStash=ackManagerByte;  // stash value from CV17 
+          ackManagerStash=ackManagerByte;  // stash value from CV17
           break;
-          
-     case COMBINELOCOID: 
+
+     case COMBINELOCOID:
           // ackManagerStash is  cv17, ackManagerByte is CV 18
-          callback( ackManagerByte + ((ackManagerStash - 192) << 8));
-          return;            
+          callback( LONG_ADDR_MARKER | ( ackManagerByte + ((ackManagerStash - 192) << 8)));
+          return;
 
      case ITSKIP:
-          if (!ackReceived) break; 
+          if (!ackReceived) break;
           // SKIP opcodes until SKIPTARGET found
           while (opcode!=SKIPTARGET) {
-            ackManagerProg++; 
+            ackManagerProg++;
             opcode=GETFLASH(ackManagerProg);
           }
           break;
-     case SKIPTARGET: 
-          break;     
-     default: 
+     case SKIPTARGET:
+          break;
+     default:
           DIAG(F("!! ackOp %d FAULT!!"),opcode);
           callback( -1);
-          return;        
-    
+          return;
+
       }  // end of switch
     ackManagerProg++;
   }
 }
 
 void DCC::callback(int value) {
+    // check for automatic retry
+    if (value == -1 && ackManagerRetry > 0) {
+      ackRetrySum ++;
+      LCD(0, F("Retry %d %d Sum=%d"), ackManagerCv, ackManagerRetry, ackRetrySum);
+      ackManagerRetry --;
+      ackManagerProg = ackManagerProgStart;
+      return;
+    }
+
     static unsigned long callbackStart;
     // We are about to leave programming mode
     // Rule 1: If we have written to a decoder we must maintain power for 100mS
     // Rule 2: If we are re-joining the main track we must power off for 30mS
 
-    switch (callbackState) {    
+    switch (callbackState) {
        case AFTER_WRITE:  // first attempt to callback after a write operation
 	    if (!ackManagerRejoin && !DCCWaveform::progTrack.autoPowerOff) {
                callbackState=READY;
@@ -930,7 +964,7 @@ void DCC::callback(int value) {
             callbackState=WAITING_100;
             if (Diag::ACK) DIAG(F("Stable 100mS"));
             break;
-            
+
        case WAITING_100:  // waiting for 100mS
             if (millis()-callbackStart < 100) break;
             // stable after power maintained for 100mS
@@ -939,20 +973,20 @@ void DCC::callback(int value) {
             // but if we will keep the power on, we must off it for 30mS
             if (DCCWaveform::progTrack.autoPowerOff) callbackState=READY;
             else { // Need to cycle power off and on
-                DCCWaveform::progTrack.setPowerMode(POWERMODE::OFF); 
+                DCCWaveform::progTrack.setPowerMode(POWERMODE::OFF);
                 callbackStart=millis();
                 callbackState=WAITING_30;
                 if (Diag::ACK) DIAG(F("OFF 30mS"));
             }
             break;
- 
+
         case WAITING_30:  // waiting for 30mS with power off
             if (millis()-callbackStart < 30) break;
             //power has been off for 30mS
-            DCCWaveform::progTrack.setPowerMode(POWERMODE::ON); 
+            DCCWaveform::progTrack.setPowerMode(POWERMODE::ON);
             callbackState=READY;
             break;
-     
+
        case READY:  // ready after read, or write after power delay and off period.
             // power off if we powered it on
            if (DCCWaveform::progTrack.autoPowerOff) {
@@ -963,8 +997,8 @@ void DCC::callback(int value) {
           if (ackManagerRejoin) {
               setProgTrackSyncMain(true);
               if (Diag::ACK) DIAG(F("Auto JOIN"));
-          }  
-    
+          }
+
           ackManagerProg=NULL;  // no more steps to execute
           if (Diag::ACK) DIAG(F("Callback(%d)"),value);
           (ackManagerCallback)( value);
@@ -977,10 +1011,10 @@ void DCC::displayCabList(Print * stream) {
     for (int reg = 0; reg < MAX_LOCOS; reg++) {
        if (speedTable[reg].loco>0) {
         used ++;
-        StringFormatter::send(stream,F("cab=%d, speed=%d, dir=%c \n"),       
+        StringFormatter::send(stream,F("cab=%d, speed=%d, dir=%c \n"),
            speedTable[reg].loco,  speedTable[reg].speedCode & 0x7f,(speedTable[reg].speedCode & 0x80) ? 'F':'R');
        }
      }
      StringFormatter::send(stream,F("Used=%d, max=%d\n"),used,MAX_LOCOS);
-     
+
 }

DCC.h

@@ -1,5 +1,10 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2021 Herb Morton
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *
@@ -23,6 +28,16 @@
 #include "MotorDrivers.h"
 #include "FSH.h"
 
+#include "defines.h"
+#ifndef HIGHEST_SHORT_ADDR
+#define HIGHEST_SHORT_ADDR 127
+#else
+#if HIGHEST_SHORT_ADDR > 127
+#error short addr greater than 127 does not make sense
+#endif
+#endif
+const uint16_t LONG_ADDR_MARKER = 0x4000;
+
 typedef void (*ACK_CALLBACK)(int16_t result);
 
 enum ackOp : byte
@@ -38,9 +53,11 @@ enum ackOp : byte
   ITC1,             // If True Callback(1)  (if prevous WACK got an ACK)
   ITC0,             // If True callback(0);
   ITCB,             // If True callback(byte)
+  ITCBV,            // If True callback(byte) - end of Verify Byte
   ITCB7,            // If True callback(byte &0x7F)
   NAKFAIL,          // if false callback(-1)
   FAIL,             // callback(-1)
+  BIV,              // Set ackManagerByte to initial value for Verify retry
   STARTMERGE,       // Clear bit and byte settings ready for merge pass
   MERGE,            // Merge previous wack response with byte value and decrement bit number (use for readimng CV bytes)
   SETBIT,           // sets bit number to next prog byte
@@ -64,8 +81,10 @@ enum   CALLBACK_STATE : byte {
 
 // Allocations with memory implications..!
 // Base system takes approx 900 bytes + 8 per loco. Turnouts, Sensors etc are dynamically created
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO)
 const byte MAX_LOCOS = 20;
+#elif defined(ARDUINO_AVR_NANO)
+const byte MAX_LOCOS = 30;
 #else
 const byte MAX_LOCOS = 50;
 #endif
@@ -85,8 +104,9 @@ public:
   static void writeCVBitMain(int cab, int cv, byte bNum, bool bValue);
   static void setFunction(int cab, byte fByte, byte eByte);
   static void setFn(int cab, int16_t functionNumber, bool on);
-  static int changeFn(int cab, int16_t functionNumber, bool pressed);
+  static void changeFn(int cab, int16_t functionNumber);
   static int  getFn(int cab, int16_t functionNumber);
+  static uint32_t getFunctionMap(int cab);
   static void updateGroupflags(byte &flags, int16_t functionNumber);
   static void setAccessory(int aAdd, byte aNum, bool activate);
   static bool writeTextPacket(byte *b, int nBytes);
@@ -113,8 +133,13 @@ public:
   static inline void setGlobalSpeedsteps(byte s) {
     globalSpeedsteps = s;
   };
+  static inline int16_t setAckRetry(byte retry) {
+    ackRetry = retry;
+    ackRetryPSum = ackRetrySum;
+    ackRetrySum = 0;  // reset running total
+    return ackRetryPSum;
+  };
 
-private:
   struct LOCO
   {
     int loco;
@@ -122,6 +147,9 @@ private:
     byte groupFlags;
     unsigned long functions;
   };
+ static LOCO speedTable[MAX_LOCOS];
+ 
+private:
   static byte joinRelay;
   static byte loopStatus;
   static void setThrottle2(uint16_t cab, uint8_t speedCode);
@@ -132,7 +160,6 @@ private:
   static FSH *shieldName;
   static byte globalSpeedsteps;
 
-  static LOCO speedTable[MAX_LOCOS];
   static byte cv1(byte opcode, int cv);
   static byte cv2(int cv);
   static int lookupSpeedTable(int locoId);
@@ -141,9 +168,15 @@ private:
 
   // ACK MANAGER
   static ackOp const *ackManagerProg;
+  static ackOp const *ackManagerProgStart;
   static byte ackManagerByte;
+  static byte ackManagerByteVerify;
   static byte ackManagerBitNum;
   static int ackManagerCv;
+  static byte ackManagerRetry;
+  static byte ackRetry;
+  static int16_t ackRetrySum;
+  static int16_t ackRetryPSum;
   static int ackManagerWord;
   static byte ackManagerStash;
   static bool ackReceived;

DCCEX.h

@@ -1,7 +1,8 @@
 /*
- *  (c) 2020 Chris Harlow. All rights reserved.
- *  (c) 2021 Fred Decker.  All rights reserved.
- *  (c) 2020 Harald Barth. All rights reserved.
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
  *
@@ -29,6 +30,7 @@
 #include "DCC.h"
 #include "DIAG.h"
 #include "DCCEXParser.h"
+#include "SerialManager.h"
 #include "version.h"
 #include "WifiInterface.h"
 #if ETHERNET_ON == true
@@ -42,6 +44,6 @@
 #include "Sensors.h"
 #include "Outputs.h"
 #include "RMFT.h"
-
+#include "CommandDistributor.h"
     
 #endif

DCCEXParser.cpp

@@ -1,6 +1,12 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
- *  © 2020, Harald Barth.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Mike S
+ *  © 2021 Herb Morton
+ *  © 2020-2022 Harald Barth
+ *  © 2020-2021 M Steve Todd
+ *  © 2020-2021 Fred Decker
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
  *
@@ -27,11 +33,22 @@
 #include "freeMemory.h"
 #include "GITHUB_SHA.h"
 #include "version.h"
-
+#include "defines.h"
+#include "CommandDistributor.h"
 #include "EEStore.h"
 #include "DIAG.h"
 #include <avr/wdt.h>
 
+////////////////////////////////////////////////////////////////////////////////
+//
+// Figure out if we have enough memory for advanced features
+//
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_NANO)
+// nope
+#else
+#define HAS_ENOUGH_MEMORY
+#endif
+
 // These keywords are used in the <1> command. The number is what you get if you use the keyword as a parameter.
 // To discover new keyword numbers , use the <$ YOURKEYWORD> command
 const int16_t HASH_KEYWORD_PROG = -29718;
@@ -40,27 +57,36 @@ const int16_t HASH_KEYWORD_JOIN = -30750;
 const int16_t HASH_KEYWORD_CABS = -11981;
 const int16_t HASH_KEYWORD_RAM = 25982;
 const int16_t HASH_KEYWORD_CMD = 9962;
-const int16_t HASH_KEYWORD_WIT = 31594;
-const int16_t HASH_KEYWORD_WIFI = -5583;
 const int16_t HASH_KEYWORD_ACK = 3113;
 const int16_t HASH_KEYWORD_ON = 2657;
 const int16_t HASH_KEYWORD_DCC = 6436;
 const int16_t HASH_KEYWORD_SLOW = -17209;
 const int16_t HASH_KEYWORD_PROGBOOST = -6353;
+#ifndef DISABLE_EEPROM
 const int16_t HASH_KEYWORD_EEPROM = -7168;
+#endif
 const int16_t HASH_KEYWORD_LIMIT = 27413;
-const int16_t HASH_KEYWORD_ETHERNET = -30767;    
 const int16_t HASH_KEYWORD_MAX = 16244;
 const int16_t HASH_KEYWORD_MIN = 15978;
-const int16_t HASH_KEYWORD_LCN = 15137;   
 const int16_t HASH_KEYWORD_RESET = 26133;
+const int16_t HASH_KEYWORD_RETRY = 25704;
 const int16_t HASH_KEYWORD_SPEED28 = -17064;
 const int16_t HASH_KEYWORD_SPEED128 = 25816;
-const int16_t HASH_KEYWORD_SERVO = 27709;
+const int16_t HASH_KEYWORD_SERVO=27709;
+const int16_t HASH_KEYWORD_VPIN=-415;
+const int16_t HASH_KEYWORD_C=67;
+const int16_t HASH_KEYWORD_T=84;
+const int16_t HASH_KEYWORD_LCN = 15137;
+const int16_t HASH_KEYWORD_HAL = 10853;
+const int16_t HASH_KEYWORD_SHOW = -21309;
+const int16_t HASH_KEYWORD_ANIN = -10424;
+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;
 
 int16_t DCCEXParser::stashP[MAX_COMMAND_PARAMS];
 bool DCCEXParser::stashBusy;
-
 Print *DCCEXParser::stashStream = NULL;
 RingStream *DCCEXParser::stashRingStream = NULL;
 byte DCCEXParser::stashTarget=0;
@@ -71,46 +97,8 @@ byte DCCEXParser::stashTarget=0;
 // calls the corresponding DCC api.
 // Non-DCC things like turnouts, pins and sensors are handled in additional JMRI interface classes.
 
-DCCEXParser::DCCEXParser() {}
-void DCCEXParser::flush()
-{
-    if (Diag::CMD)
-        DIAG(F("Buffer flush"));
-    bufferLength = 0;
-    inCommandPayload = false;
-}
 
-void DCCEXParser::loop(Stream &stream)
-{
-    while (stream.available())
-    {
-        if (bufferLength == MAX_BUFFER)
-        {
-            flush();
-        }
-        char ch = stream.read();
-        if (ch == '<')
-        {
-            inCommandPayload = true;
-            bufferLength = 0;
-            buffer[0] = '\0';
-        }
-        else if (ch == '>')
-        {
-            buffer[bufferLength] = '\0';
-            parse(&stream, buffer, NULL); // Parse this (No ringStream for serial)
-            inCommandPayload = false;
-            break;
-        }
-        else if (inCommandPayload)
-        {
-            buffer[bufferLength++] = ch;
-        }
-    }
-    Sensor::checkAll(&stream); // Update and print changes
-}
-
-int16_t DCCEXParser::splitValues(int16_t result[MAX_COMMAND_PARAMS], const byte *cmd)
+int16_t DCCEXParser::splitValues(int16_t result[MAX_COMMAND_PARAMS], const byte *cmd, bool usehex)
 {
     byte state = 1;
     byte parameterCount = 0;
@@ -148,10 +136,15 @@ int16_t DCCEXParser::splitValues(int16_t result[MAX_COMMAND_PARAMS], const byte
         case 3: // building a parameter
             if (hot >= '0' && hot <= '9')
             {
-                runningValue = 10 * runningValue + (hot - '0');
+                runningValue = (usehex?16:10) * runningValue + (hot - '0');
                 break;
             }
             if (hot >= 'a' && hot <= 'z') hot=hot-'a'+'A'; // uppercase a..z
+            if (usehex && hot>='A' && hot<='F') {
+                // treat A..F as hex not keyword
+                runningValue = 16 * runningValue + (hot - 'A' + 10);
+                break;
+            }
             if (hot >= 'A' && hot <= 'Z')
             {
                 // Since JMRI got modified to send keywords in some rare cases, we need this
@@ -169,66 +162,6 @@ int16_t DCCEXParser::splitValues(int16_t result[MAX_COMMAND_PARAMS], const byte
     return parameterCount;
 }
 
-int16_t DCCEXParser::splitHexValues(int16_t result[MAX_COMMAND_PARAMS], const byte *cmd)
-{
-    byte state = 1;
-    byte parameterCount = 0;
-    int16_t runningValue = 0;
-    const byte *remainingCmd = cmd + 1; // skips the opcode
-    
-    // clear all parameters in case not enough found
-    for (int16_t i = 0; i < MAX_COMMAND_PARAMS; i++)
-        result[i] = 0;
-
-    while (parameterCount < MAX_COMMAND_PARAMS)
-    {
-        byte hot = *remainingCmd;
-
-        switch (state)
-        {
-
-        case 1: // skipping spaces before a param
-            if (hot == ' ')
-                break;
-            if (hot == '\0' || hot == '>')
-                return parameterCount;
-            state = 2;
-            continue;
-
-        case 2: // checking first hex digit
-            runningValue = 0;
-            state = 3;
-            continue;
-
-        case 3: // building a parameter
-            if (hot >= '0' && hot <= '9')
-            {
-                runningValue = 16 * runningValue + (hot - '0');
-                break;
-            }
-            if (hot >= 'A' && hot <= 'F')
-            {
-                runningValue = 16 * runningValue + 10 + (hot - 'A');
-                break;
-            }
-            if (hot >= 'a' && hot <= 'f')
-            {
-                runningValue = 16 * runningValue + 10 + (hot - 'a');
-                break;
-            }
-            if (hot==' ' || hot=='>' || hot=='\0') { 
-               result[parameterCount] = runningValue;
-               parameterCount++;
-               state = 1;
-               continue;
-            }
-            return -1; // invalid hex digit
-        }
-        remainingCmd++;
-    }
-    return parameterCount;
-}
-
 FILTER_CALLBACK DCCEXParser::filterCallback = 0;
 FILTER_CALLBACK DCCEXParser::filterRMFTCallback = 0;
 AT_COMMAND_CALLBACK DCCEXParser::atCommandCallback = 0;
@@ -247,6 +180,7 @@ void DCCEXParser::setAtCommandCallback(AT_COMMAND_CALLBACK callback)
 
 // Parse an F() string 
 void DCCEXParser::parse(const FSH * cmd) {
+      DIAG(F("SETUP(\"%S\")"),cmd);
       int size=strlen_P((char *)cmd)+1; 
       char buffer[size];
       strcpy_P(buffer,(char *)cmd);
@@ -254,17 +188,20 @@ void DCCEXParser::parse(const FSH * cmd) {
 }
 
 // See documentation on DCC class for info on this section
+
 void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
 {
+#ifndef DISABLE_EEPROM
     (void)EEPROM; // tell compiler not to warn this is unused
+#endif
     if (Diag::CMD)
         DIAG(F("PARSING:%s"), com);
     int16_t p[MAX_COMMAND_PARAMS];
     while (com[0] == '<' || com[0] == ' ')
         com++; // strip off any number of < or spaces
-    byte params = splitValues(p, com);
     byte opcode = com[0];
-
+    byte params = splitValues(p, com, opcode=='M' || opcode=='P');
+    
     if (filterCallback)
         filterCallback(stream, opcode, params, p);
     if (filterRMFTCallback && opcode!='\0')
@@ -312,10 +249,9 @@ void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
             break; // invalid direction code
 
         DCC::setThrottle(cab, tspeed, direction);
-        if (params == 4)
+        if (params == 4) // send obsolete format T response
             StringFormatter::send(stream, F("<T %d %d %d>\n"), p[0], p[2], p[3]);
-        else
-            StringFormatter::send(stream, F("<O>\n"));
+        // speed change will be broadcast anyway in new <l > format
         return;
     }
     case 'f': // FUNCTION <f CAB BYTE1 [BYTE2]>
@@ -345,8 +281,12 @@ void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
           || ((subaddress & 0x03) != subaddress)  // invalid subaddress (limit 2 bits ) 
           || ((p[activep]  & 0x01) != p[activep]) // invalid activate 0|1
           ) break; 
-          // TODO: Trigger configurable range of addresses on local VPins.
+          // Honour the configuration option (config.h) which allows the <a> command to be reversed
+#ifdef DCC_ACCESSORY_COMMAND_REVERSE
+          DCC::setAccessory(address, subaddress,p[activep]==0);
+#else
           DCC::setAccessory(address, subaddress,p[activep]==1);
+#endif
         }
         return;
      
@@ -375,8 +315,8 @@ void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
 
     case 'M': // WRITE TRANSPARENT DCC PACKET MAIN <M REG X1 ... X9>
     case 'P': // WRITE TRANSPARENT DCC PACKET PROG <P REG X1 ... X9>
-        // Re-parse the command using a hex-only splitter
-        params=splitHexValues(p,com)-1; // drop REG
+        // NOTE: this command was parsed in HEX instead of decimal
+        params--; // drop REG
         if (params<1) break;  
         {
           byte packet[params];
@@ -437,54 +377,67 @@ void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
         }
         break;
 
-    case '1': // POWERON <1   [MAIN|PROG]>
-    case '0': // POWEROFF <0 [MAIN | PROG] >
-        if (params > 1)
-            break;
+    case '1': // POWERON <1   [MAIN|PROG|JOIN]>
         {
-            POWERMODE mode = opcode == '1' ? POWERMODE::ON : POWERMODE::OFF;
-            DCC::setProgTrackSyncMain(false); // Only <1 JOIN> will set this on, all others set it off
-            if (params == 0 ||
-		(MotorDriver::commonFaultPin && p[0] != HASH_KEYWORD_JOIN)) // commonFaultPin prevents individual track handling
-            {
-                DCCWaveform::mainTrack.setPowerMode(mode);
-                DCCWaveform::progTrack.setPowerMode(mode);
-		if (mode == POWERMODE::OFF)
-		  DCC::setProgTrackBoost(false);  // Prog track boost mode will not outlive prog track off
-                StringFormatter::send(stream, F("<p%c>\n"), opcode);
-                return;
-            }
-            switch (p[0])
-            {
-            case HASH_KEYWORD_MAIN:
-                DCCWaveform::mainTrack.setPowerMode(mode);
-                StringFormatter::send(stream, F("<p%c MAIN>\n"), opcode);
-                return;
-
-            case HASH_KEYWORD_PROG:
-                DCCWaveform::progTrack.setPowerMode(mode);
-		if (mode == POWERMODE::OFF)
-		  DCC::setProgTrackBoost(false);  // Prog track boost mode will not outlive prog track off
-                StringFormatter::send(stream, F("<p%c PROG>\n"), opcode);
-                return;
-            case HASH_KEYWORD_JOIN:
-                DCCWaveform::mainTrack.setPowerMode(mode);
-                DCCWaveform::progTrack.setPowerMode(mode);
-                if (mode == POWERMODE::ON)
-                {
-                    DCC::setProgTrackSyncMain(true);
-                    StringFormatter::send(stream, F("<p1 JOIN>\n"), opcode);
-                }
-                else
-                    StringFormatter::send(stream, F("<p0>\n"));
-                return;
-            }
-            break;
+        bool main=false;
+        bool prog=false;
+        bool join=false;
+        if (params > 1) break;
+        if (params==0) { // <1>
+            main=true;
+            prog=true;
         }
+        else if (p[0] == HASH_KEYWORD_JOIN) {  // <1 JOIN>
+            main=true;
+            prog=true;
+            join=!MotorDriver::commonFaultPin;
+        }
+        else if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
+            main=true;
+        }
+        else if (p[0]==HASH_KEYWORD_PROG) { // <1 PROG>
+            prog=true;
+        }
+        else break; // will reply <X>
+
+        if (main) DCCWaveform::mainTrack.setPowerMode(POWERMODE::ON);
+        if (prog) DCCWaveform::progTrack.setPowerMode(POWERMODE::ON);
+        DCC::setProgTrackSyncMain(join);
+
+        CommandDistributor::broadcastPower();
         return;
+        }
+
+    case '0': // POWEROFF <0 [MAIN | PROG] >
+        {
+        bool main=false;
+        bool prog=false;
+        if (params > 1) break;
+        if (params==0) { // <0>
+            main=true;
+            prog=true;
+        }
+        else if (p[0]==HASH_KEYWORD_MAIN) { // <0 MAIN>
+            main=true;
+        }
+        else if (p[0]==HASH_KEYWORD_PROG) { // <0 PROG>
+            prog=true;
+        }
+        else break; // will reply <X>
+
+        if (main) DCCWaveform::mainTrack.setPowerMode(POWERMODE::OFF);
+        if (prog) {
+            DCC::setProgTrackBoost(false);  // Prog track boost mode will not outlive prog track off
+            DCCWaveform::progTrack.setPowerMode(POWERMODE::OFF);
+        }
+        DCC::setProgTrackSyncMain(false);
+
+        CommandDistributor::broadcastPower();
+        return;
+        }
 
     case '!': // ESTOP ALL  <!>
-        DCC::setThrottle(0,1,1); // this broadcasts speed 1(estop) and sets all reminders to speed 1. 
+        DCC::setThrottle(0,1,1); // this broadcasts speed 1(estop) and sets all reminders to speed 1.
         return;
 
     case 'c': // SEND METER RESPONSES <c>
@@ -507,6 +460,7 @@ void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
         // TODO Send stats of  speed reminders table
         return;       
 
+#ifndef DISABLE_EEPROM
     case 'E': // STORE EPROM <E>
         EEStore::store();
         StringFormatter::send(stream, F("<e %d %d %d>\n"), EEStore::eeStore->data.nTurnouts, EEStore::eeStore->data.nSensors, EEStore::eeStore->data.nOutputs);
@@ -516,7 +470,7 @@ void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
         EEStore::clear();
         StringFormatter::send(stream, F("<O>\n"));
         return;
-
+#endif
     case ' ': // < >
         StringFormatter::send(stream, F("\n"));
         return;
@@ -537,16 +491,17 @@ void DCCEXParser::parse(Print *stream, byte *com, RingStream * ringStream)
         return;
 
     case 'F': // New command to call the new Loco Function API <F cab func 1|0>
+        if(params!=3) break; 
         if (Diag::CMD)
             DIAG(F("Setting loco %d F%d %S"), p[0], p[1], p[2] ? F("ON") : F("OFF"));
         DCC::setFn(p[0], p[1], p[2] == 1);
         return;
 
     case '+': // Complex Wifi interface command (not usual parse)
-        if (atCommandCallback) {
+        if (atCommandCallback && !ringStream) {
           DCCWaveform::mainTrack.setPowerMode(POWERMODE::OFF);
           DCCWaveform::progTrack.setPowerMode(POWERMODE::OFF);
-          atCommandCallback(com);
+          atCommandCallback((HardwareSerial *)stream,com);
           return;
         }
         break;
@@ -658,7 +613,7 @@ bool DCCEXParser::parseT(Print *stream, int16_t params, int16_t p[])
     case 0: // <T>  list turnout definitions
     {
         bool gotOne = false;
-        for (Turnout *tt = Turnout::firstTurnout; tt != NULL; tt = tt->nextTurnout)
+        for (Turnout *tt = Turnout::first(); tt != NULL; tt = tt->next())
         {
             gotOne = true;
             tt->print(stream);
@@ -672,17 +627,60 @@ bool DCCEXParser::parseT(Print *stream, int16_t params, int16_t p[])
         StringFormatter::send(stream, F("<O>\n"));
         return true;
 
-    case 2: // <T id 0|1>  turnout 0=CLOSE,1=THROW
-        if (p[1]>1 || p[1]<0 ) return false;
-        if (!Turnout::setClosed(p[0],p[1]==0)) return false;
-        StringFormatter::send(stream, F("<H %d %d>\n"), p[0], p[1]);
-        return true;
+    case 2: // <T id 0|1|T|C> 
+        {
+          bool state = false;
+          switch (p[1]) {
+            // Turnout messages use 1=throw, 0=close.
+            case 0:
+            case HASH_KEYWORD_C:
+              state = true;
+              break;
+            case 1:
+            case HASH_KEYWORD_T:
+              state= false;
+              break;
+            default:
+              return false;  // Invalid parameter
+          }
+          if (!Turnout::setClosed(p[0], state)) return false;
 
-    default: // Anything else is handled by Turnout class.
-        if (!Turnout::create(p[0], params-1, &p[1]))
-            return false;
-        StringFormatter::send(stream, F("<O>\n"));
-        return true;
+
+          return true;
+        }
+
+    default: // Anything else is some kind of turnout create function.
+      if (params == 6 && p[1] == HASH_KEYWORD_SERVO) { // <T id SERVO n n n n>
+        if (!ServoTurnout::create(p[0], (VPIN)p[2], (uint16_t)p[3], (uint16_t)p[4], (uint8_t)p[5]))
+          return false;
+      } else 
+      if (params == 3 && p[1] == HASH_KEYWORD_VPIN) { // <T id VPIN n>
+        if (!VpinTurnout::create(p[0], p[2])) return false;
+      } else 
+      if (params >= 3 && p[1] == HASH_KEYWORD_DCC) {
+        // <T id DCC addr subadd>   0<=addr<=511, 0<=subadd<=3 (like <a> command).<T>
+        if (params==4 && p[2]>=0 && p[2]<512 && p[3]>=0 && p[3]<4) { // <T id DCC n m>
+          if (!DCCTurnout::create(p[0], p[2], p[3])) return false;
+        } else if (params==3 && p[2]>0 && p[2]<=512*4) { // <T id DCC nn>, 1<=nn<=2048
+          // Linearaddress 1 maps onto decoder address 1/0 (not 0/0!).
+          if (!DCCTurnout::create(p[0], (p[2]-1)/4+1, (p[2]-1)%4)) return false;
+        } else
+          return false;
+      } else 
+      if (params==3) { // legacy <T id addr subadd> for DCC accessory
+        if (p[1]>=0 && p[1]<512 && p[2]>=0 && p[2]<4) {
+          if (!DCCTurnout::create(p[0], p[1], p[2])) return false;
+        } else
+          return false;
+      } 
+      else 
+      if (params==4) { // legacy <T id n n n> for Servo
+        if (!ServoTurnout::create(p[0], (VPIN)p[1], (uint16_t)p[2], (uint16_t)p[3], 1)) return false;
+      } else
+        return false;
+
+      StringFormatter::send(stream, F("<O>\n"));
+      return true;
     }
 }
 
@@ -733,17 +731,20 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         StringFormatter::send(stream, F("Free memory=%d\n"), minimumFreeMemory());
         break;
 
-    case HASH_KEYWORD_ACK: // <D ACK ON/OFF> <D ACK [LIMIT|MIN|MAX] Value>
+    case HASH_KEYWORD_ACK: // <D ACK ON/OFF> <D ACK [LIMIT|MIN|MAX|RETRY] Value>
 	if (params >= 3) {
 	    if (p[1] == HASH_KEYWORD_LIMIT) {
 	      DCCWaveform::progTrack.setAckLimit(p[2]);
-	      StringFormatter::send(stream, F("Ack limit=%dmA\n"), p[2]);
+	      LCD(1, F("Ack Limit=%dmA"), p[2]);  // <D ACK LIMIT 42>
 	    } else if (p[1] == HASH_KEYWORD_MIN) {
 	      DCCWaveform::progTrack.setMinAckPulseDuration(p[2]);
-	      StringFormatter::send(stream, F("Ack min=%dus\n"), p[2]);
+	      LCD(0, F("Ack Min=%dus"), p[2]);  //   <D ACK MIN 1500>
 	    } else if (p[1] == HASH_KEYWORD_MAX) {
 	      DCCWaveform::progTrack.setMaxAckPulseDuration(p[2]);
-	      StringFormatter::send(stream, F("Ack max=%dus\n"), p[2]);
+	      LCD(0, F("Ack Max=%dus"), p[2]);  //   <D ACK MAX 9000>
+	    } else if (p[1] == HASH_KEYWORD_RETRY) {
+	      if (p[2] >255) p[2]=3;
+	      LCD(0, F("Ack Retry=%d Sum=%d"), p[2], DCC::setAckRetry(p[2]));  //   <D ACK RETRY 2>
 	    }
 	} else {
 	  StringFormatter::send(stream, F("Ack diag %S\n"), onOff ? F("on") : F("off"));
@@ -755,21 +756,23 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         Diag::CMD = onOff;
         return true;
 
+#ifdef HAS_ENOUGH_MEMORY
     case HASH_KEYWORD_WIFI: // <D WIFI ON/OFF>
         Diag::WIFI = onOff;
         return true;
 
-   case HASH_KEYWORD_ETHERNET: // <D ETHERNET ON/OFF>
+    case HASH_KEYWORD_ETHERNET: // <D ETHERNET ON/OFF>
         Diag::ETHERNET = onOff;
         return true;
 
     case HASH_KEYWORD_WIT: // <D WIT ON/OFF>
         Diag::WITHROTTLE = onOff;
         return true;
-  
+
     case HASH_KEYWORD_LCN: // <D LCN ON/OFF>
         Diag::LCN = onOff;
         return true;
+#endif
 
     case HASH_KEYWORD_PROGBOOST:
         DCC::setProgTrackBoost(true);
@@ -781,11 +784,13 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
           delay(50);            // wait for the prescaller time to expire          
           break; // and <X> if we didnt restart 
         }
-        
+
+#ifndef DISABLE_EEPROM
     case HASH_KEYWORD_EEPROM: // <D EEPROM NumEntries>
 	if (params >= 2)
 	    EEStore::dump(p[1]);
 	return true;
+#endif
 
     case HASH_KEYWORD_SPEED28:
         DCC::setGlobalSpeedsteps(28);
@@ -797,10 +802,22 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
 	StringFormatter::send(stream, F("128 Speedsteps"));
         return true;
 
-    case HASH_KEYWORD_SERVO:
+    case HASH_KEYWORD_SERVO:  // <D SERVO vpin position [profile]>
+    case HASH_KEYWORD_ANOUT:  // <D ANOUT vpin position [profile]>
         IODevice::writeAnalogue(p[1], p[2], params>3 ? p[3] : 0);
         break;
 
+    case HASH_KEYWORD_ANIN:   // <D ANIN vpin>  Display analogue input value
+        DIAG(F("VPIN=%d value=%d"), p[1], IODevice::readAnalogue(p[1]));
+        break;
+
+#if !defined(IO_MINIMAL_HAL)
+    case HASH_KEYWORD_HAL: 
+        if (p[1] == HASH_KEYWORD_SHOW) 
+          IODevice::DumpAll();
+        break;
+#endif
+
     default: // invalid/unknown
         break;
     }
@@ -863,10 +880,21 @@ void DCCEXParser::callback_R(int16_t result)
     commitAsyncReplyStream();
 }
 
-void DCCEXParser::callback_Rloco(int16_t result)
-{
-    StringFormatter::send(getAsyncReplyStream(), F("<r %d>\n"), result);
-    commitAsyncReplyStream();
+void DCCEXParser::callback_Rloco(int16_t result) {
+  const FSH * detail;
+  if (result<=0) {
+    detail=F("<r ERROR %d>\n");
+  } else {
+    bool longAddr=result & LONG_ADDR_MARKER;        //long addr
+    if (longAddr)
+      result = result^LONG_ADDR_MARKER;
+    if (longAddr && result <= HIGHEST_SHORT_ADDR)
+      detail=F("<r LONG %d UNSUPPORTED>\n");
+    else
+      detail=F("<r %d>\n");
+  }
+  StringFormatter::send(getAsyncReplyStream(), detail, result);
+  commitAsyncReplyStream();
 }
 
 void DCCEXParser::callback_Wloco(int16_t result)

DCCEXParser.h

@@ -1,5 +1,8 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *
@@ -23,15 +26,13 @@
 #include "RingStream.h"
 
 typedef void (*FILTER_CALLBACK)(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
-typedef void (*AT_COMMAND_CALLBACK)(const byte * command);
+typedef void (*AT_COMMAND_CALLBACK)(HardwareSerial * stream,const byte * command);
 
 struct DCCEXParser
 {
-   DCCEXParser();
-   void loop(Stream & stream);
-   void parse(Print * stream,  byte * command,  RingStream * ringStream);
-   void parse(const FSH * cmd);
-   void flush();
+   
+   static void parse(Print * stream,  byte * command,  RingStream * ringStream);
+   static void parse(const FSH * cmd);
    static void setFilter(FILTER_CALLBACK filter);
    static void setRMFTFilter(FILTER_CALLBACK filter);
    static void setAtCommandCallback(AT_COMMAND_CALLBACK filter);
@@ -40,17 +41,13 @@ struct DCCEXParser
    private:
   
     static const int16_t MAX_BUFFER=50;  // longest command sent in
-     byte  bufferLength=0;
-     bool  inCommandPayload=false;
-     byte  buffer[MAX_BUFFER+2]; 
-    int16_t splitValues( int16_t result[MAX_COMMAND_PARAMS], const byte * command);
-    int16_t splitHexValues( int16_t result[MAX_COMMAND_PARAMS], const byte * command);
+    static int16_t splitValues( int16_t result[MAX_COMMAND_PARAMS], const byte * command, bool usehex);
      
-     bool parseT(Print * stream, int16_t params, int16_t p[]);
-     bool parseZ(Print * stream, int16_t params, int16_t p[]);
-     bool parseS(Print * stream,  int16_t params, int16_t p[]);
-     bool parsef(Print * stream,  int16_t params, int16_t p[]);
-     bool parseD(Print * stream,  int16_t params, int16_t p[]);
+    static bool parseT(Print * stream, int16_t params, int16_t p[]);
+     static bool parseZ(Print * stream, int16_t params, int16_t p[]);
+     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[]);
 
      static Print * getAsyncReplyStream();
      static void commitAsyncReplyStream();
@@ -61,7 +58,7 @@ struct DCCEXParser
     static RingStream * stashRingStream;
     
     static int16_t stashP[MAX_COMMAND_PARAMS];
-    bool stashCallback(Print * stream, int16_t p[MAX_COMMAND_PARAMS], RingStream * ringStream);
+    static bool stashCallback(Print * stream, int16_t p[MAX_COMMAND_PARAMS], RingStream * ringStream);
     static void callback_W(int16_t result);
     static void callback_B(int16_t result);        
     static void callback_R(int16_t result);

DCCTimer.cpp

@@ -1,5 +1,10 @@
 /*
- *  © 2021, Chris Harlow & David Cutting. All rights reserved.
+ *  © 2021 Mike S
+ *  © 2021 Harald Barth
+ *  © 2021 Fred Decker
+ *  © 2021 Chris Harlow
+ *  © 2021 David Cutting
+ *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *

DCCTimer.h

@@ -1,6 +1,8 @@
 /*
- *  (c) 2021 Mike S. All rights reserved.
- *  (c) 2021 Fred Decker.  All rights reserved.
+ *  © 2021 Mike S
+ *  © 2021 Harald Barth
+ *  © 2021 Fred Decker
+ *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
  *

DCCWaveform.cpp

@@ -1,8 +1,12 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
- *  © 2020, Harald Barth.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
- *  This file is part of Asbelos DCC API
+ *  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
@@ -17,7 +21,7 @@
  *  You should have received a copy of the GNU General Public License
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
- #pragma GCC optimize ("-O3")
+
 #include <Arduino.h>
 
 #include "DCCWaveform.h"
@@ -46,10 +50,8 @@ void DCCWaveform::begin(MotorDriver * mainDriver, MotorDriver * progDriver) {
 				 && (mainDriver->getFaultPin() != UNUSED_PIN));
   // Only use PWM if both pins are PWM capable. Otherwise JOIN does not work
   MotorDriver::usePWM= mainDriver->isPWMCapable() && progDriver->isPWMCapable();
-  if (MotorDriver::usePWM)
-    DIAG(F("Signal pin config: high accuracy waveform"));
-  else
-    DIAG(F("Signal pin config: normal accuracy waveform"));
+  DIAG(F("Signal pin config: %S accuracy waveform"),
+	 MotorDriver::usePWM ? F("high") : F("normal") );
   DCCTimer::begin(DCCWaveform::interruptHandler);     
 }
 
@@ -58,6 +60,8 @@ void DCCWaveform::loop(bool ackManagerActive) {
   progTrack.checkPowerOverload(ackManagerActive);
 }
 
+#pragma GCC push_options
+#pragma GCC optimize ("-O3")
 void DCCWaveform::interruptHandler() {
   // call the timer edge sensitive actions for progtrack and maintrack
   // member functions would be cleaner but have more overhead
@@ -79,7 +83,7 @@ void DCCWaveform::interruptHandler() {
   else if (progTrack.ackPending) progTrack.checkAck();
 
 }
-
+#pragma GCC push_options
 
 // An instance of this class handles the DCC transmissions for one track. (main or prog)
 // Interrupts are marshalled via the statics.
@@ -114,6 +118,7 @@ void DCCWaveform::setPowerMode(POWERMODE mode) {
   powerMode = mode;
   bool ison = (mode == POWERMODE::ON);
   motorDriver->setPower( ison);
+  sentResetsSincePacket=0; 
 }
 
 
@@ -124,6 +129,8 @@ void DCCWaveform::checkPowerOverload(bool ackManagerActive) {
   if (!isMainTrack && !ackManagerActive && !progTrackSyncMain && !progTrackBoosted)
     tripValue=progTripValue;
   
+  // Trackname for diag messages later
+  const FSH*trackname = isMainTrack ? F("MAIN") : F("PROG");
   switch (powerMode) {
     case POWERMODE::OFF:
       sampleDelay = POWER_SAMPLE_OFF_WAIT;
@@ -141,9 +148,9 @@ void DCCWaveform::checkPowerOverload(bool ackManagerActive) {
 	      }
 	      // Write this after the fact as we want to turn on as fast as possible
 	      // because we don't know which output actually triggered the fault pin
-	      DIAG(F("*** COMMON FAULT PIN ACTIVE - TOGGLED POWER on %S ***"), isMainTrack ? F("MAIN") : F("PROG"));
+	      DIAG(F("COMMON FAULT PIN ACTIVE - TOGGLED POWER on %S"), trackname);
 	  } else {
-	      DIAG(F("*** %S FAULT PIN ACTIVE - OVERLOAD ***"), isMainTrack ? F("MAIN") : F("PROG"));
+	    DIAG(F("%S FAULT PIN ACTIVE - OVERLOAD"), trackname);
 	      if (lastCurrent < tripValue) {
 		  lastCurrent = tripValue; // exaggerate
 	      }
@@ -161,7 +168,7 @@ void DCCWaveform::checkPowerOverload(bool ackManagerActive) {
         unsigned int maxmA=motorDriver->raw2mA(tripValue);
 	power_good_counter=0;
         sampleDelay = power_sample_overload_wait;
-        DIAG(F("*** %S TRACK POWER OVERLOAD current=%d max=%d  offtime=%d ***"), isMainTrack ? F("MAIN") : F("PROG"), mA, maxmA, sampleDelay);
+        DIAG(F("%S TRACK POWER OVERLOAD current=%d max=%d offtime=%d"), trackname, mA, maxmA, sampleDelay);
 	if (power_sample_overload_wait >= 10000)
 	    power_sample_overload_wait = 10000;
 	else
@@ -173,7 +180,7 @@ void DCCWaveform::checkPowerOverload(bool ackManagerActive) {
       setPowerMode(POWERMODE::ON);
       sampleDelay = POWER_SAMPLE_ON_WAIT;
       // Debug code....
-      DIAG(F("*** %S TRACK POWER RESET delay=%d ***"), isMainTrack ? F("MAIN") : F("PROG"), sampleDelay);
+      DIAG(F("%S TRACK POWER RESET delay=%d"), trackname, sampleDelay);
       break;
     default:
       sampleDelay = 999; // cant get here..meaningless statement to avoid compiler warning.
@@ -197,6 +204,8 @@ const bool DCCWaveform::signalTransform[]={
    /* WAVE_LOW_0   -> */ LOW,
    /* WAVE_PENDING (should not happen) -> */ LOW};
         
+#pragma GCC push_options
+#pragma GCC optimize ("-O3")
 void DCCWaveform::interrupt2() {
   // calculate the next bit to be sent:
   // set state WAVE_MID_1  for a 1=bit
@@ -252,7 +261,7 @@ void DCCWaveform::interrupt2() {
     }
   }  
 }
-
+#pragma GCC pop_options
 
 
 // Wait until there is no packet pending, then make this pending
@@ -306,6 +315,8 @@ byte DCCWaveform::getAck() {
       return(0);  // pending set off but not detected means no ACK.   
 }
 
+#pragma GCC push_options
+#pragma GCC optimize ("-O3")
 void DCCWaveform::checkAck() {
     // This function operates in interrupt() time so must be fast and can't DIAG 
     if (sentResetsSincePacket > 6) {  //ACK timeout
@@ -355,3 +366,4 @@ void DCCWaveform::checkAck() {
     }      
     ackPulseStart=0;  // We have detected a too-short or too-long pulse so ignore and wait for next leading edge 
 }
+#pragma GCC pop_options

DCCWaveform.h

@@ -1,8 +1,12 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
- *  © 2020, Harald Barth.
+ *  © 2021 M Steve Todd
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
- *  This file is part of Asbelos DCC API
+ *  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

DIAG.h

@@ -1,7 +1,9 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Fred Decker
+ *  © 2020 Chris Harlow
+ *  All rights reserved.
  *  
- *  This file is part of Asbelos DCC API
+ *  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

DisplayInterface.cpp

@@ -1,5 +1,7 @@
 /*
- *  © 2021, Chris Harlow, Neil McKechnie. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Chris Harlow
+ *  All rights reserved.
  *
  *  This file is part of CommandStation-EX
  *
@@ -19,4 +21,4 @@
 
 #include "DisplayInterface.h"
 
-DisplayInterface *DisplayInterface::lcdDisplay = 0;
+DisplayInterface *DisplayInterface::lcdDisplay = 0;

DisplayInterface.h

@@ -1,5 +1,7 @@
 /*
- *  © 2021, Chris Harlow, Neil McKechnie. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Chris Harlow
+ *  All rights reserved.
  *
  *  This file is part of CommandStation-EX
  *
@@ -32,4 +34,4 @@ public:
   static DisplayInterface *lcdDisplay;
 };
 
-#endif
+#endif

EEStore.cpp

@@ -1,9 +1,12 @@
 /*
+ *  © 2021 Neil McKechnie
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
  *  © 2013-2016 Gregg E. Berman
- *  © 2020, Chris Harlow. All rights reserved.
- *  © 2020, Harald Barth.
+ *  All rights reserved.
  *
- *  This file is part of Asbelos DCC API
+ *  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
@@ -18,90 +21,92 @@
  *  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"
+#ifndef DISABLE_EEPROM
 #include "EEStore.h"
-#include "Turnouts.h"
-#include "Sensors.h"
-#include "Outputs.h"
+
 #include "DIAG.h"
+#include "Outputs.h"
+#include "Sensors.h"
+#include "Turnouts.h"
 
 #if defined(ARDUINO_ARCH_SAMD)
 ExternalEEPROM EEPROM;
 #endif
 
-void EEStore::init(){
+void EEStore::init() {
 #if defined(ARDUINO_ARCH_SAMD)
-    EEPROM.begin(0x50);     // Address for Microchip 24-series EEPROM with all three A pins grounded (0b1010000 = 0x50)
+  EEPROM.begin(0x50);  // Address for Microchip 24-series EEPROM with all three
+                       // A pins grounded (0b1010000 = 0x50)
 #endif
 
-    eeStore=(EEStore *)calloc(1,sizeof(EEStore));
-    
-    EEPROM.get(0,eeStore->data);                                       // get eeStore data
+  eeStore = (EEStore *)calloc(1, sizeof(EEStore));
 
-    if(strncmp(eeStore->data.id,EESTORE_ID,sizeof(EESTORE_ID))!=0){    // check to see that eeStore contains valid DCC++ ID
-        sprintf(eeStore->data.id,EESTORE_ID);                           // if not, create blank eeStore structure (no turnouts, no sensors) and save it back to EEPROM
-        eeStore->data.nTurnouts=0;
-        eeStore->data.nSensors=0;
-        eeStore->data.nOutputs=0;
-        EEPROM.put(0,eeStore->data);
-    }
+  EEPROM.get(0, eeStore->data);  // get eeStore data
 
-    reset();            // set memory pointer to first free EEPROM space
-    Turnout::load();    // load turnout definitions
-    Sensor::load();     // load sensor definitions
-    Output::load();     // load output definitions
+  // check to see that eeStore contains valid DCC++ ID
+  if (strncmp(eeStore->data.id, EESTORE_ID, sizeof(EESTORE_ID)) != 0) {  
+    // if not, create blank eeStore structure (no
+    // turnouts, no sensors) and save it back to EEPROM  
+    strncpy(eeStore->data.id, EESTORE_ID, sizeof(EESTORE_ID));  
+    eeStore->data.nTurnouts = 0;
+    eeStore->data.nSensors = 0;
+    eeStore->data.nOutputs = 0;
+    EEPROM.put(0, eeStore->data);
+  }
 
+  reset();          // set memory pointer to first free EEPROM space
+  Turnout::load();  // load turnout definitions
+  Sensor::load();   // load sensor definitions
+  Output::load();   // load output definitions
 }
 
 ///////////////////////////////////////////////////////////////////////////////
 
-void EEStore::clear(){
-
-    sprintf(eeStore->data.id,EESTORE_ID);                           // create blank eeStore structure (no turnouts, no sensors) and save it back to EEPROM
-    eeStore->data.nTurnouts=0;
-    eeStore->data.nSensors=0;
-    eeStore->data.nOutputs=0;
-    EEPROM.put(0,eeStore->data);
-
+void EEStore::clear() {
+  sprintf(eeStore->data.id,
+          EESTORE_ID);  // create blank eeStore structure (no turnouts, no
+                        // sensors) and save it back to EEPROM
+  eeStore->data.nTurnouts = 0;
+  eeStore->data.nSensors = 0;
+  eeStore->data.nOutputs = 0;
+  EEPROM.put(0, eeStore->data);
 }
 
 ///////////////////////////////////////////////////////////////////////////////
 
-void EEStore::store(){
-    reset();
-    Turnout::store();
-    Sensor::store();
-    Output::store();
-    EEPROM.put(0,eeStore->data);
-    DIAG(F("EEPROM used: %d bytes"), EEStore::pointer());
+void EEStore::store() {
+  reset();
+  Turnout::store();
+  Sensor::store();
+  Output::store();
+  EEPROM.put(0, eeStore->data);
+  DIAG(F("EEPROM used: %d/%d bytes"), EEStore::pointer(), EEPROM.length());
 }
 
 ///////////////////////////////////////////////////////////////////////////////
 
-void EEStore::advance(int n){
-    eeAddress+=n;
-}
+void EEStore::advance(int n) { eeAddress += n; }
 
 ///////////////////////////////////////////////////////////////////////////////
 
-void EEStore::reset(){
-    eeAddress=sizeof(EEStore);
-}
+void EEStore::reset() { eeAddress = sizeof(EEStore); }
 ///////////////////////////////////////////////////////////////////////////////
 
-int EEStore::pointer(){
-    return(eeAddress);
-}
+int EEStore::pointer() { return (eeAddress); }
 ///////////////////////////////////////////////////////////////////////////////
 
 void EEStore::dump(int num) {
-    byte b;
-    DIAG(F("Addr  0x  char"));
-    for (int n=0 ; n<num; n++) {
-	EEPROM.get(n, b);
-	DIAG(F("%d     %x    %c"),n,b,isprint(b) ? b : ' ');
-    }
+  byte b;
+  DIAG(F("Addr  0x  char"));
+  for (int n = 0; n < num; n++) {
+    EEPROM.get(n, b);
+    DIAG(F("%d     %x    %c"), n, b, isprint(b) ? b : ' ');
+  }
 }
 ///////////////////////////////////////////////////////////////////////////////
 
-EEStore *EEStore::eeStore=NULL;
-int EEStore::eeAddress=0;
+EEStore *EEStore::eeStore = NULL;
+int EEStore::eeAddress = 0;
+#endif

EEStore.h

@@ -1,6 +1,9 @@
 /*
- *  (c) 2020 Chris Harlow. All rights reserved.
- *  (c) 2020 Harald Barth. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
  *
@@ -17,6 +20,7 @@
  *  You should have received a copy of the GNU General Public License
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
+#ifndef DISABLE_EEPROM
 #ifndef EEStore_h
 #define EEStore_h
 
@@ -29,7 +33,7 @@ extern ExternalEEPROM EEPROM;
 #include <EEPROM.h>
 #endif
 
-#define EESTORE_ID "DCC++0"
+#define EESTORE_ID "DCC++1"
 
 struct EEStoreData{
   char id[sizeof(EESTORE_ID)];
@@ -52,3 +56,4 @@ struct EEStore{
 };
 
 #endif
+#endif // DISABLE_EEPROM

EthernetInterface.cpp

@@ -1,5 +1,9 @@
 /*
- *  © 2020,Gregor Baues,  Chris Harlow. All rights reserved.
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  © 2020 Gregor Baues
+ *  All rights reserved.
  *  
  *  This file is part of DCC-EX/CommandStation-EX
  *
@@ -17,12 +21,6 @@
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  * 
  */
-#if __has_include ( "config.h")
-  #include "config.h"
-#else
-  #warning config.h not found. Using defaults from config.example.h 
-  #include "config.example.h"
-#endif
 #include "defines.h" 
 #if ETHERNET_ON == true
 #include "EthernetInterface.h"
@@ -176,6 +174,7 @@ void EthernetInterface::loop()
    for (int socket = 0; socket<MAX_SOCK_NUM; socket++) {
      if (clients[socket] && !clients[socket].connected()) {
       clients[socket].stop();
+      CommandDistributor::forget(socket);          
       if (Diag::ETHERNET)  DIAG(F("Ethernet: disconnect %d "), socket);             
      }
     }

EthernetInterface.h

@@ -1,5 +1,10 @@
 /*
- *  © 2020,Gregor Baues,  Chris Harlow. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Chris Harlow
+ *  © 2020 Gregor Baues
+ *  All rights reserved.
  *  
  *  This file is part of DCC-EX/CommandStation-EX
  *
@@ -22,12 +27,8 @@
 
 #ifndef EthernetInterface_h
 #define EthernetInterface_h
-#if __has_include ( "config.h")
-  #include "config.h"
-#else
-  #warning config.h not found. Using defaults from config.example.h 
-  #include "config.example.h"
-#endif
+
+#include "defines.h"
 #include "DCCEXParser.h"
 #include <Arduino.h>
 #include <avr/pgmspace.h>

FSH.h

@@ -1,5 +1,8 @@
 /*
- *  (c) 2021 Fred Decker.  All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Harald Barth
+ *  © 2021 Fred Decker
+ *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
  *

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "50fcbc0"
+#define GITHUB_SHA "61390cb"

I2CManager.cpp

@@ -147,6 +147,25 @@ uint8_t I2CManagerClass::finishRB(I2CRB *rb, uint8_t status) {
   return status;
 }
 
+/***************************************************************************
+ * Get a message corresponding to the error status
+ ***************************************************************************/
+const FSH *I2CManagerClass::getErrorMessage(uint8_t status) {
+  switch (status) {
+    case I2C_STATUS_OK: return F("OK");
+    case I2C_STATUS_TRUNCATED: return F("Transmission truncated");
+    case I2C_STATUS_NEGATIVE_ACKNOWLEDGE: return F("No response from device (address NAK)");
+    case I2C_STATUS_TRANSMIT_ERROR: return F("Transmit error (data NAK)");
+    case I2C_STATUS_OTHER_TWI_ERROR: return F("Other Wire/TWI error");
+    case I2C_STATUS_TIMEOUT: return F("Timeout");
+    case I2C_STATUS_ARBITRATION_LOST: return F("Arbitration lost");
+    case I2C_STATUS_BUS_ERROR: return F("I2C bus error");
+    case I2C_STATUS_UNEXPECTED_ERROR: return F("Unexpected error");
+    case I2C_STATUS_PENDING: return F("Request pending");
+    default: return F("Error code not recognised");
+  }
+}
+
 /***************************************************************************
  *  Declare singleton class instance.
  ***************************************************************************/
@@ -158,12 +177,25 @@ I2CManagerClass I2CManager = I2CManagerClass();
 /////////////////////////////////////////////////////////////////////////////
 
 /***************************************************************************
- *  Block waiting for request block to complete, and return completion status
+ *  Block waiting for request block to complete, and return completion status.
+ *  Since such a loop could potentially last for ever if the RB status doesn't
+ *  change, we set a high limit (1sec, 1000ms) on the wait time and, if it
+ *  hasn't changed by that time we assume it's not going to, and just return
+ *  a timeout status.  This means that CS will not lock up.
  ***************************************************************************/
 uint8_t I2CRB::wait() {
-  do
+  unsigned long waitStart = millis();
+  do {
     I2CManager.loop();
-  while (status==I2C_STATUS_PENDING);
+    // Rather than looping indefinitely, let's set a very high timeout (1s).
+    if ((millis() - waitStart) > 1000UL) { 
+      DIAG(F("I2C TIMEOUT I2C:x%x I2CRB:x%x"), i2cAddress, this);
+      status = I2C_STATUS_TIMEOUT;
+      // Note that, although the timeout is posted, the request may yet complete.
+      // TODO: Ideally we would like to cancel the request.
+      return status;
+    }
+  } while (status==I2C_STATUS_PENDING);
   return status;
 }
 

I2CManager.h

@@ -107,23 +107,31 @@
  *  the loop() function is called, and may be adequate under some circumstances.  
  *  The advantage of NOT using interrupts is that the impact of I2C upon the DCC waveform (when accurate timing mode isn't in use)
  *  becomes almost zero.
- *  This mechanism is under evaluation and should not be relied upon as yet.
  * 
  */
 
+// Uncomment following line to enable Wire library instead of native I2C drivers
 //#define I2C_USE_WIRE
+
+// Uncomment following line to disable the use of interrupts by the native I2C drivers.
+//#define I2C_NO_INTERRUPTS
+
+// Default to use interrupts within the native I2C drivers.
 #ifndef I2C_NO_INTERRUPTS
 #define I2C_USE_INTERRUPTS
 #endif
 
 // Status codes for I2CRB structures.
 enum : uint8_t {
+  // Codes used by Wire and by native drivers
   I2C_STATUS_OK=0,
   I2C_STATUS_TRUNCATED=1,
-  I2C_STATUS_DEVICE_NOT_PRESENT=2,
+  I2C_STATUS_NEGATIVE_ACKNOWLEDGE=2,
   I2C_STATUS_TRANSMIT_ERROR=3,
-  I2C_STATUS_NEGATIVE_ACKNOWLEDGE=4,
   I2C_STATUS_TIMEOUT=5,
+  // Code used by Wire only
+  I2C_STATUS_OTHER_TWI_ERROR=4, // catch-all error
+  // Codes used by native drivers only
   I2C_STATUS_ARBITRATION_LOST=6,
   I2C_STATUS_BUS_ERROR=7,
   I2C_STATUS_UNEXPECTED_ERROR=8,
@@ -151,14 +159,16 @@ typedef enum : uint8_t
 #define I2C_FREQ    400000L
 #endif
 
-// Struct defining a request context for an I2C operation.
-struct I2CRB {
+// Class defining a request context for an I2C operation.
+class I2CRB {
+public:
   volatile uint8_t status; // Completion status, or pending flag (updated from IRC)
   volatile uint8_t nBytes; // Number of bytes read (updated from IRC)
 
+  inline I2CRB() { status = I2C_STATUS_OK; };
   uint8_t wait();
   bool isBusy();
-  inline void init() { status = I2C_STATUS_OK; };
+
   void setReadParams(uint8_t i2cAddress, uint8_t *readBuffer, uint8_t readLen);
   void setRequestParams(uint8_t i2cAddress, uint8_t *readBuffer, uint8_t readLen, const uint8_t *writeBuffer, uint8_t writeLen);
   void setWriteParams(uint8_t i2cAddress, const uint8_t *writeBuffer, uint8_t writeLen);
@@ -213,6 +223,10 @@ public:
   // Loop method
   void loop();
 
+  // Expand error codes into text.  Note that they are in flash so 
+  // need to be printed using FSH.
+  static const FSH *getErrorMessage(uint8_t status);
+
 private:
   bool _beginCompleted = false;
   bool _clockSpeedFixed = false;
@@ -235,7 +249,7 @@ private:
     // Mark volatile as they are updated by IRC and read/written elsewhere.
     static I2CRB * volatile queueHead;
     static I2CRB * volatile queueTail;
-    static volatile uint8_t status;
+    static volatile uint8_t state;
 
     static I2CRB * volatile currentRequest;
     static volatile uint8_t txCount;
@@ -258,7 +272,9 @@ private:
     static void I2C_close();
     
   public:
-    void setTimeout(unsigned long value) { timeout = value;};
+    // setTimeout sets the timout value for I2C transactions.
+    // TODO: Get I2C timeout working before uncommenting the code below.
+    void setTimeout(unsigned long value) { (void)value; /* timeout = value; */ };
 
     // handleInterrupt needs to be public to be called from the ISR function!
     static void handleInterrupt();

I2CManager_AVR.h

@@ -62,7 +62,18 @@
  *  Set I2C clock speed register.
  ***************************************************************************/
 void I2CManagerClass::I2C_setClock(unsigned long i2cClockSpeed) {
-  TWBR = ((F_CPU / i2cClockSpeed) - 16) / 2;
+  unsigned long temp = ((F_CPU / i2cClockSpeed) - 16) / 2;
+  for (uint8_t preScaler = 0; preScaler<=3; preScaler++) {
+    if (temp <= 255) {
+      TWBR = temp;
+      TWSR = (TWSR & 0xfc) | preScaler;
+      return;
+    } else 
+      temp /= 4;
+  }
+  // Set slowest speed ~= 500 bits/sec
+  TWBR = 255;
+  TWSR |= 0x03;
 }
 
 /***************************************************************************
@@ -136,7 +147,7 @@ void I2CManagerClass::I2C_handleInterrupt() {
       } else {  // Nothing left to send or receive
         TWDR = 0xff;  // Default condition = SDA released
         TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO);  // Send Stop
-        status = I2C_STATUS_OK;
+        state = I2C_STATUS_OK;
       }
       break;
     case TWI_MRX_DATA_ACK:      // Data byte has been received and ACK transmitted
@@ -159,7 +170,7 @@ void I2CManagerClass::I2C_handleInterrupt() {
         bytesToReceive--;
       }
       TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO);  // Send Stop
-      status = I2C_STATUS_OK;
+      state = I2C_STATUS_OK;
       break;
     case TWI_START:             // START has been transmitted  
     case TWI_REP_START:         // Repeated START has been transmitted
@@ -175,7 +186,7 @@ void I2CManagerClass::I2C_handleInterrupt() {
     case TWI_MTX_DATA_NACK:     // Data byte has been transmitted and NACK received
       TWDR = 0xff;  // Default condition = SDA released
       TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO);  // Send Stop
-      status = I2C_STATUS_NEGATIVE_ACKNOWLEDGE;
+      state = I2C_STATUS_NEGATIVE_ACKNOWLEDGE;
       break;
     case TWI_ARB_LOST:          // Arbitration lost
       // Restart transaction from start.
@@ -185,7 +196,7 @@ void I2CManagerClass::I2C_handleInterrupt() {
     default:
       TWDR = 0xff;  // Default condition = SDA released
       TWCR = (1<<TWEN)|(1<<TWINT)|(1<<TWEA)|(1<<TWSTO);  // Send Stop
-      status = I2C_STATUS_TRANSMIT_ERROR;
+      state = I2C_STATUS_TRANSMIT_ERROR;
   }
 }
 

I2CManager_Mega4809.h

@@ -105,14 +105,14 @@ void I2CManagerClass::I2C_handleInterrupt() {
     I2C_sendStart();   // Reinitiate request
   } else if (currentStatus & TWI_BUSERR_bm) {
     // Bus error
-    status = I2C_STATUS_BUS_ERROR;
+    state = I2C_STATUS_BUS_ERROR;
     TWI0.MSTATUS = currentStatus; // clear all flags
   } else if (currentStatus & TWI_WIF_bm) {
     // Master write completed
     if (currentStatus & TWI_RXACK_bm) {
       // Nacked, send stop.
       TWI0.MCTRLB = TWI_MCMD_STOP_gc;
-      status = I2C_STATUS_NEGATIVE_ACKNOWLEDGE;
+      state = I2C_STATUS_NEGATIVE_ACKNOWLEDGE;
     } else if (bytesToSend) {
       // Acked, so send next byte
       if (currentRequest->operation == OPERATION_SEND_P)
@@ -126,7 +126,7 @@ void I2CManagerClass::I2C_handleInterrupt() {
     } else {
       // No more data to send/receive. Initiate a STOP condition.
       TWI0.MCTRLB = TWI_MCMD_STOP_gc;
-      status = I2C_STATUS_OK;  // Done
+      state = I2C_STATUS_OK;  // Done
     }
   } else if (currentStatus & TWI_RIF_bm) {
     // Master read completed without errors
@@ -136,7 +136,7 @@ void I2CManagerClass::I2C_handleInterrupt() {
     } else { 
       // Buffer full, issue nack/stop
       TWI0.MCTRLB = TWI_ACKACT_bm | TWI_MCMD_STOP_gc;
-      status = I2C_STATUS_OK;
+      state = I2C_STATUS_OK;
     }
     if (bytesToReceive) {
       // More bytes to receive, issue ack and start another read
@@ -144,7 +144,7 @@ void I2CManagerClass::I2C_handleInterrupt() {
     } else {
       // Transaction finished, issue NACK and STOP.
       TWI0.MCTRLB = TWI_ACKACT_bm | TWI_MCMD_STOP_gc;
-      status = I2C_STATUS_OK;
+      state = I2C_STATUS_OK;
     }
   }
 }

I2CManager_NonBlocking.h

@@ -41,7 +41,7 @@
 void I2CManagerClass::_initialise()
 {
   queueHead = queueTail = NULL;
-  status = I2C_STATE_FREE;
+  state = I2C_STATE_FREE;
   I2C_init();
 }
 
@@ -59,10 +59,9 @@ void I2CManagerClass::_setClock(unsigned long i2cClockSpeed) {
  ***************************************************************************/
 void I2CManagerClass::startTransaction() { 
   ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-    I2CRB *t = queueHead;
-    if ((status == I2C_STATE_FREE) && (t != NULL)) {
-      status = I2C_STATE_ACTIVE;
-      currentRequest = t;
+    if ((state == I2C_STATE_FREE) && (queueHead != NULL)) {
+      state = I2C_STATE_ACTIVE;
+      currentRequest = queueHead;
       rxCount = txCount = 0;
       // Copy key fields to static data for speed.
       operation = currentRequest->operation;
@@ -85,9 +84,9 @@ void I2CManagerClass::queueRequest(I2CRB *req) {
       queueHead = queueTail = req;  // Only item on queue
     else
       queueTail = queueTail->nextRequest = req; // Add to end
+    startTransaction();
   }
 
-  startTransaction();
 }
 
 /***************************************************************************
@@ -130,12 +129,16 @@ uint8_t I2CManagerClass::read(uint8_t i2cAddress, uint8_t *readBuffer, uint8_t r
 /***************************************************************************
  * checkForTimeout() function, called from isBusy() and wait() to cancel
  * requests that are taking too long to complete.
+ * This function doesn't fully work as intended so is not currently called.
+ * Instead we check for an I2C hang-up and report an error from
+ * I2CRB::wait(), but we aren't able to recover from the hang-up.  Such faults
+ * may be caused by an I2C wire short for example.
  ***************************************************************************/
 void I2CManagerClass::checkForTimeout() {
   unsigned long currentMicros = micros();
   ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
     I2CRB *t = queueHead;
-    if (t && timeout > 0) {
+    if (state==I2C_STATE_ACTIVE && t!=0 && t==currentRequest && timeout > 0) {
       // Check for timeout
       if (currentMicros - startTime > timeout) { 
         // Excessive time. Dequeue request
@@ -148,9 +151,9 @@ void I2CManagerClass::checkForTimeout() {
         // Try close and init, not entirely satisfactory but sort of works...
         I2C_close();  // Shutdown and restart twi interface
         I2C_init();
-        status = I2C_STATE_FREE;
+        state = I2C_STATE_FREE;
         
-        // Initiate next queued request
+        // Initiate next queued request if any.
         startTransaction();
       }
     }
@@ -164,9 +167,10 @@ void I2CManagerClass::loop() {
 #if !defined(I2C_USE_INTERRUPTS)
   handleInterrupt();
 #endif
-  // If free, initiate next transaction
-  startTransaction();
-  checkForTimeout();
+  // Timeout is now reported in I2CRB::wait(), not here.
+  // I've left the code, commented out, as a reminder to look at this again
+  // in the future.
+  //checkForTimeout();
 }
 
 /***************************************************************************
@@ -175,27 +179,32 @@ void I2CManagerClass::loop() {
  ***************************************************************************/
 void I2CManagerClass::handleInterrupt() {
 
+  // Update hardware state machine
   I2C_handleInterrupt();
 
-  // Experimental -- perform the post processing with interrupts enabled.
-  //interrupts();
+  // Enable interrupts to minimise effect on other interrupt code
+  interrupts();
 
-  if (status!=I2C_STATUS_PENDING) {
+  // Check if current request has completed.  If there's a current request
+  // and state isn't active then state contains the completion status of the request.
+  if (state != I2C_STATE_ACTIVE && currentRequest != NULL) {
     // Remove completed request from head of queue
-    I2CRB * t;
     ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-      t = queueHead;
-      if (t != NULL) {
+      I2CRB * t = queueHead;
+      if (t == queueHead) {
         queueHead = t->nextRequest;
         if (!queueHead) queueTail = queueHead;
         t->nBytes = rxCount;
-        t->status = status;
+        t->status = state;
+        
+        // I2C state machine is now free for next request
+        currentRequest = NULL;
+        state = I2C_STATE_FREE;
+
+        // Start next request (if any)
+        I2CManager.startTransaction();
       }
-      // I2C state machine is now free for next request
-      status = I2C_STATE_FREE;
     }
-    // Start next request (if any)
-    I2CManager.startTransaction();
   }
 }
 
@@ -203,7 +212,7 @@ void I2CManagerClass::handleInterrupt() {
 I2CRB * volatile I2CManagerClass::queueHead = NULL;
 I2CRB * volatile I2CManagerClass::queueTail = NULL;
 I2CRB * volatile I2CManagerClass::currentRequest = NULL;
-volatile uint8_t I2CManagerClass::status = I2C_STATE_FREE;
+volatile uint8_t I2CManagerClass::state = I2C_STATE_FREE;
 volatile uint8_t I2CManagerClass::txCount;
 volatile uint8_t I2CManagerClass::rxCount;
 volatile uint8_t I2CManagerClass::operation;

IODevice.cpp

@@ -1,5 +1,7 @@
 /*
- *  © 2021, Neil McKechnie. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Harald Barth
+ *  All rights reserved.
  *  
  *  This file is part of DCC++EX API
  *
@@ -28,6 +30,10 @@
 #define USE_FAST_IO
 #endif
 
+// Link to halSetup function.  If not defined, the function reference will be NULL.
+extern __attribute__((weak)) void halSetup();
+extern __attribute__((weak)) void mySetup();  // Deprecated function name, output warning if it's declared
+
 //==================================================================================================================
 // Static methods
 //------------------------------------------------------------------------------------------------------------------
@@ -57,6 +63,16 @@ void IODevice::begin() {
     dev->_begin();
   }
   _initPhase = false;
+
+  // Check for presence of deprecated mySetup() function, and output warning.
+  if (mySetup)
+    DIAG(F("WARNING: mySetup() function should be renamed to halSetup()"));
+
+  // Call user's halSetup() function (if defined in the build in myHal.cpp).
+  //  The contents will depend on the user's system hardware configuration.
+  //  The myHal.cpp file is a standard C++ module so has access to all of the DCC++EX APIs.
+  if (halSetup)
+    halSetup();
 }
 
 // Overarching static loop() method for the IODevice subsystem.  Works through the
@@ -67,32 +83,54 @@ void IODevice::begin() {
 // doesn't need to invoke it.
 void IODevice::loop() {
   unsigned long currentMicros = micros();
-  // Call every device's loop function in turn, one per entry.
-  if (!_nextLoopDevice) _nextLoopDevice = _firstDevice;
-  _nextLoopDevice->_loop(currentMicros);
-  _nextLoopDevice = _nextLoopDevice->_nextDevice;
+  
+  IODevice *lastLoopDevice = _nextLoopDevice;  // So we know when to stop...
+  // Loop through devices until we find one ready to be serviced.
+  do {
+    if (!_nextLoopDevice) _nextLoopDevice = _firstDevice;
+    if (_nextLoopDevice) {
+      if (_nextLoopDevice->_deviceState != DEVSTATE_FAILED 
+            && ((long)(currentMicros - _nextLoopDevice->_nextEntryTime)) >= 0) {
+        // Found one ready to run, so invoke its _loop method.
+        _nextLoopDevice->_nextEntryTime = currentMicros;
+        _nextLoopDevice->_loop(currentMicros);
+        _nextLoopDevice = _nextLoopDevice->_nextDevice;
+        break;
+      }
+      // Not this one, move to next one
+      _nextLoopDevice = _nextLoopDevice->_nextDevice;
+    }
+  } while (_nextLoopDevice != lastLoopDevice); // Stop looking when we've done all.
   
   // Report loop time if diags enabled
 #if defined(DIAG_LOOPTIMES)
   static unsigned long lastMicros = 0;
-  static unsigned long maxElapsed = 0;
+  // Measure time since loop() method started.
+  unsigned long halElapsed = micros() - currentMicros;
+  // Measure time between loop() method entries.
+  unsigned long elapsed = currentMicros - lastMicros;
+  static unsigned long maxElapsed = 0, maxHalElapsed = 0;
   static unsigned long lastOutputTime = 0;
+  static unsigned long halTotal = 0, total = 0;
   static unsigned long count = 0;
   const unsigned long interval = (unsigned long)5 * 1000 * 1000; // 5 seconds in microsec
-  unsigned long elapsed = currentMicros - lastMicros;
+
   // Ignore long loop counts while message is still outputting
   if (currentMicros - lastOutputTime > 3000UL) {
     if (elapsed > maxElapsed) maxElapsed = elapsed;
+    if (halElapsed > maxHalElapsed) maxHalElapsed = halElapsed;
+    halTotal += halElapsed;
+    total += elapsed;
+    count++;
   }
-  count++;
   if (currentMicros - lastOutputTime > interval) {
     if (lastOutputTime > 0) 
-      LCD(1,F("Loop=%lus,%lus max"), interval/count, maxElapsed);
-    maxElapsed = 0;
-    count = 0;
+      DIAG(F("Loop Total:%lus (%lus max) HAL:%lus (%lus max)"), 
+        total/count, maxElapsed, halTotal/count, maxHalElapsed);
+    maxElapsed = maxHalElapsed = total = halTotal = count = 0;
     lastOutputTime = currentMicros;
   }
-  lastMicros = micros();
+  lastMicros = currentMicros;
 #endif
 }
 
@@ -112,12 +150,13 @@ bool IODevice::exists(VPIN vpin) {
 bool IODevice::hasCallback(VPIN vpin) {
   IODevice *dev = findDevice(vpin);
   if (!dev) return false;
-  return dev->_hasCallback(vpin);
+  return dev->_hasCallback;
 }
 
 // Display (to diagnostics) details of the device.
 void IODevice::_display() {
-  DIAG(F("Unknown device Vpins:%d-%d"), (int)_firstVpin, (int)_firstVpin+_nPins-1);
+  DIAG(F("Unknown device Vpins:%d-%d %S"), 
+    (int)_firstVpin, (int)_firstVpin+_nPins-1, _deviceState==DEVSTATE_FAILED ? F("OFFLINE") : F(""));
 }
 
 // Find device associated with nominated Vpin and pass configuration values on to it.
@@ -125,6 +164,33 @@ void IODevice::_display() {
 bool IODevice::configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) {
   IODevice *dev = findDevice(vpin);
   if (dev) return dev->_configure(vpin, configType, paramCount, params);
+#ifdef DIAG_IO
+  DIAG(F("IODevice::configure(): Vpin ID %d not found!"), (int)vpin);
+#endif
+  return false;
+}
+
+// Read value from virtual pin.
+int IODevice::read(VPIN vpin) {
+  for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
+    if (dev->owns(vpin)) 
+      return dev->_read(vpin);
+  }
+#ifdef DIAG_IO
+  DIAG(F("IODevice::read(): Vpin %d not found!"), (int)vpin);
+#endif
+  return false;
+}
+
+// Read analogue value from virtual pin.
+int IODevice::readAnalogue(VPIN vpin) {
+  for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
+    if (dev->owns(vpin)) 
+      return dev->_readAnalogue(vpin);
+  }
+#ifdef DIAG_IO
+  DIAG(F("IODevice::readAnalogue(): Vpin %d not found!"), (int)vpin);
+#endif
   return false;
 }
 
@@ -137,29 +203,36 @@ void IODevice::write(VPIN vpin, int value) {
     return;
   }
 #ifdef DIAG_IO
-  //DIAG(F("IODevice::write(): Vpin ID %d not found!"), (int)vpin);
+  DIAG(F("IODevice::write(): Vpin ID %d not found!"), (int)vpin);
 #endif
 }
 
-// Write analogue value to virtual pin(s).  If multiple devices are allocated the same pin
-//  then only the first one found will be used.
-void IODevice::writeAnalogue(VPIN vpin, int value, int profile) {
+// Write analogue value to virtual pin(s).  If multiple devices are allocated
+// the same pin then only the first one found will be used.
+//
+// The significance of param1 and param2 may vary from device to device.
+// For servo controllers, param1 is the profile of the transition and param2
+// the duration, i.e. the time that the operation is to be animated over
+// in deciseconds (0-3276 sec)
+//
+void IODevice::writeAnalogue(VPIN vpin, int value, uint8_t param1, uint16_t param2) {
   IODevice *dev = findDevice(vpin);
   if (dev) {
-    dev->_writeAnalogue(vpin, value, profile);
+    dev->_writeAnalogue(vpin, value, param1, param2);
     return;
   }
 #ifdef DIAG_IO
-  //DIAG(F("IODevice::writeAnalogue(): Vpin ID %d not found!"), (int)vpin);
+  DIAG(F("IODevice::writeAnalogue(): Vpin ID %d not found!"), (int)vpin);
 #endif
 }
 
-// isActive returns true if the device is currently in an animation of some sort, e.g. is changing
-//  the output over a period of time.
-bool IODevice::isActive(VPIN vpin) {
+// isBusy, when called for a device pin is always a digital output or analogue output,
+//  returns input feedback state of the pin, i.e. whether the pin is busy performing
+//  an animation or fade over a period of time.
+bool IODevice::isBusy(VPIN vpin) {
   IODevice *dev = findDevice(vpin);
   if (dev) 
-    return dev->_isActive(vpin);
+    return dev->_read(vpin);
   else
     return false;
 }
@@ -191,10 +264,12 @@ void IODevice::addDevice(IODevice *newDevice) {
     newDevice->_begin();
 }
 
-// Private helper function to locate a device by VPIN.  Returns NULL if not found
+// Private helper function to locate a device by VPIN.  Returns NULL if not found.
+//  This is performance-critical, so minimises the calculation and function calls necessary.
 IODevice *IODevice::findDevice(VPIN vpin) { 
   for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
-    if (dev->owns(vpin)) 
+    VPIN firstVpin = dev->_firstVpin;
+    if (vpin >= firstVpin && vpin < firstVpin+dev->_nPins)
       return dev;
   }
   return NULL;
@@ -226,54 +301,45 @@ bool IODevice::owns(VPIN id) {
   return (id >= _firstVpin && id < _firstVpin + _nPins);
 }
 
-// Read value from virtual pin.
-int IODevice::read(VPIN vpin) {
-  for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
-    if (dev->owns(vpin)) 
-      return dev->_read(vpin);
-  }
-#ifdef DIAG_IO
-  //DIAG(F("IODevice::read(): Vpin %d not found!"), (int)vpin);
-#endif
-  return false;
-}
-
 
 #else // !defined(IO_NO_HAL)
 
 // Minimal implementations of public HAL interface, to support Arduino pin I/O and nothing more.
 
 void IODevice::begin() { DIAG(F("NO HAL CONFIGURED!")); }
-bool IODevice::configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) {
-  (void)vpin; (void)paramCount; (void)params; // Avoid compiler warnings
-  if (configType == CONFIGURE_INPUT || configType == CONFIGURE_OUTPUT) 
-    return true;
-  else
-    return false;
+bool IODevice::configure(VPIN pin, ConfigTypeEnum configType, int nParams, int p[]) {
+  if (configType!=CONFIGURE_INPUT || nParams!=1 || pin >= NUM_DIGITAL_PINS) return false;
+  #ifdef DIAG_IO
+  DIAG(F("Arduino _configurePullup Pin:%d Val:%d"), pin, p[0]);
+  #endif
+  pinMode(pin, p[0] ? INPUT_PULLUP : INPUT);
+  return true;
 }
 void IODevice::write(VPIN vpin, int value) {
+  if (vpin >= NUM_DIGITAL_PINS) return;
   digitalWrite(vpin, value);
   pinMode(vpin, OUTPUT);
 }
-void IODevice::writeAnalogue(VPIN vpin, int value, int profile) {
-  (void)vpin; (void)value; (void)profile; // Avoid compiler warnings
-}
-bool IODevice::hasCallback(VPIN vpin) { 
-  (void)vpin;  // Avoid compiler warnings
-  return false; 
-}
+void IODevice::writeAnalogue(VPIN, int, uint8_t, uint16_t) {}
+bool IODevice::isBusy(VPIN) { return false; }
+bool IODevice::hasCallback(VPIN) { return false; }
 int IODevice::read(VPIN vpin) { 
-  pinMode(vpin, INPUT_PULLUP);
+  if (vpin >= NUM_DIGITAL_PINS) return 0;
   return !digitalRead(vpin);  // Return inverted state (5v=0, 0v=1)
 }
+int IODevice::readAnalogue(VPIN vpin) {
+  pinMode(vpin, INPUT);
+  noInterrupts();
+  int value = analogRead(vpin);
+  interrupts();
+  return value;
+}
 void IODevice::loop() {}
 void IODevice::DumpAll() {
   DIAG(F("NO HAL CONFIGURED!"));
 }
-bool IODevice::exists(VPIN vpin) { return (vpin > 2 && vpin < 49); }
-void IODevice::setGPIOInterruptPin(int16_t pinNumber) {
-  (void) pinNumber; // Avoid compiler warning
-}
+bool IODevice::exists(VPIN vpin) { return (vpin > 2 && vpin < NUM_DIGITAL_PINS); }
+void IODevice::setGPIOInterruptPin(int16_t) {}
 
 // Chain of callback blocks (identifying registered callback functions for state changes)
 // Not used in IO_NO_HAL but must be declared.
@@ -288,12 +354,14 @@ IONotifyCallback *IONotifyCallback::first = 0;
 ArduinoPins::ArduinoPins(VPIN firstVpin, int nPins) {
   _firstVpin = firstVpin;
   _nPins = nPins;
-  uint8_t arrayLen = (_nPins+7)/8;
-  _pinPullups = (uint8_t *)calloc(2, arrayLen);
+  int arrayLen = (_nPins+7)/8;
+  _pinPullups = (uint8_t *)calloc(3, arrayLen);
   _pinModes = (&_pinPullups[0]) + arrayLen;
+  _pinInUse = (&_pinPullups[0]) + 2*arrayLen;
   for (int i=0; i<arrayLen; i++) {
-    _pinPullups[i] = 0;
+    _pinPullups[i] = 0xff;  // default to pullup on, for inputs
     _pinModes[i] = 0;
+    _pinInUse[i] = 0;
   }
 }
 
@@ -318,6 +386,7 @@ bool ArduinoPins::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCoun
     _pinPullups[index] &= ~mask;
     pinMode(pin, INPUT);
   }
+  _pinInUse[index] |= mask;
   return true;
 }
 
@@ -336,11 +405,35 @@ void ArduinoPins::_write(VPIN vpin, int value) {
     _pinModes[index] |= mask;
     // Since mode changes should be infrequent, use standard pinMode function
     pinMode(pin, OUTPUT);
+    _pinInUse[index] |= mask;
   }
 }
 
-// Device-specific read function.
+// Device-specific read function (digital input).
 int ArduinoPins::_read(VPIN vpin) {
+  int pin = vpin;
+  uint8_t mask = 1 << ((pin-_firstVpin) % 8);
+  uint8_t index = (pin-_firstVpin) / 8;
+  if ((_pinModes[index] | ~_pinInUse[index]) & mask) {
+    // Currently in write mode or not initialised, change to read mode
+    _pinModes[index] &= ~mask;
+    // Since mode changes should be infrequent, use standard pinMode function
+    if (_pinPullups[index] & mask) 
+      pinMode(pin, INPUT_PULLUP);
+    else
+      pinMode(pin, INPUT);
+    _pinInUse[index] |= mask;
+  }
+  int value = !fastReadDigital(pin); // Invert (5v=0, 0v=1)
+
+  #ifdef DIAG_IO
+  //DIAG(F("Arduino Read Pin:%d Value:%d"), pin, value);
+  #endif
+  return value;
+}
+
+// Device-specific readAnalogue function (analogue input)
+int ArduinoPins::_readAnalogue(VPIN vpin) {
   int pin = vpin;
   uint8_t mask = 1 << ((pin-_firstVpin) % 8);
   uint8_t index = (pin-_firstVpin) / 8;
@@ -353,10 +446,22 @@ int ArduinoPins::_read(VPIN vpin) {
     else
       pinMode(pin, INPUT);
   }
-  int value = !fastReadDigital(pin); // Invert (5v=0, 0v=1)
+
+  // Since AnalogRead is also called from interrupt code, disable interrupts 
+  // while we're using it.  There's only one ADC shared by all analogue inputs 
+  // on the Arduino, so we don't want interruptions.
+  //******************************************************************************
+  // NOTE: If the HAL is running on a computer without the DCC signal generator,
+  // then interrupts needn't be disabled.  Also, the DCC signal generator puts
+  // the ADC into fast mode, so if it isn't present, analogueRead calls will be much
+  // slower!!
+  //******************************************************************************
+  noInterrupts();
+  int value = analogRead(pin);
+  interrupts();
 
   #ifdef DIAG_IO
-  //DIAG(F("Arduino Read Pin:%d Value:%d"), pin, value);
+  DIAG(F("Arduino Read Pin:%d Value:%d"), pin, value);
   #endif
   return value;
 }

IODevice.h

@@ -42,6 +42,7 @@
 #include "DIAG.h"
 #include "FSH.h"
 #include "I2CManager.h"
+#include "inttypes.h"
 
 typedef uint16_t VPIN;
 // Limit VPIN number to max 32767.  Above this number, printing often gives negative values.
@@ -112,15 +113,27 @@ public:
   // configure is used invoke an IODevice instance's _configure method
   static bool configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]);
 
+  // User-friendly function for configuring an input pin.
+  inline static bool configureInput(VPIN vpin, bool pullupEnable) {
+    int params[] = {pullupEnable};
+    return IODevice::configure(vpin, CONFIGURE_INPUT, 1, params);
+  }
+
+  // User-friendly function for configuring a servo pin.
+  inline static bool configureServo(VPIN vpin, uint16_t activePosition, uint16_t inactivePosition, uint8_t profile=0, uint16_t duration=0, uint8_t initialState=0) {
+    int params[] = {(int)activePosition, (int)inactivePosition, profile, (int)duration, initialState};
+    return IODevice::configure(vpin, CONFIGURE_SERVO, 5, params);
+  }
+
   // write invokes the IODevice instance's _write method.
   static void write(VPIN vpin, int value);
 
   // write invokes the IODevice instance's _writeAnalogue method (not applicable for digital outputs)
-  static void writeAnalogue(VPIN vpin, int value, int profile);
+  static void writeAnalogue(VPIN vpin, int value, uint8_t profile=0, uint16_t duration=0);
 
-  // isActive returns true if the device is currently in an animation of some sort, e.g. is changing
+  // isBusy returns true if the device is currently in an animation of some sort, e.g. is changing
   //  the output over a period of time.
-  static bool isActive(VPIN vpin);
+  static bool isBusy(VPIN vpin);
 
   // check whether the pin supports notification.  If so, then regular _read calls are not required.
   static bool hasCallback(VPIN vpin);
@@ -128,6 +141,9 @@ public:
   // read invokes the IODevice instance's _read method.
   static int read(VPIN vpin);
 
+  // read invokes the IODevice instance's _readAnalogue method.
+  static int readAnalogue(VPIN vpin);
+
   // loop invokes the IODevice instance's _loop method.
   static void loop();
 
@@ -147,7 +163,14 @@ public:
   
 protected:
   
-  // Method to perform initialisation of the device (optionally implemented within device class)
+  // Constructor
+  IODevice(VPIN firstVpin=0, int nPins=0) {
+    _firstVpin = firstVpin;
+    _nPins = nPins;
+    _nextEntryTime = 0;
+  }
+
+ // Method to perform initialisation of the device (optionally implemented within device class)
   virtual void _begin() {}
 
   // Method to configure device (optionally implemented within device class)
@@ -161,41 +184,26 @@ protected:
     (void)vpin; (void)value;
   };
 
-  // Method to write an analogue value (optionally implemented within device class)
-  virtual  void _writeAnalogue(VPIN vpin, int value, int profile) {
-    (void)vpin; (void)value; (void) profile;
+  // Method to write an 'analogue' value (optionally implemented within device class)
+  virtual void _writeAnalogue(VPIN vpin, int value, uint8_t param1, uint16_t param2) {
+    (void)vpin; (void)value; (void) param1; (void)param2;
   };
 
-  // Method called from within a filter device to trigger its output (which may
-  // have the same VPIN id as the input to the filter).  It works through the 
-  // later devices in the chain only.
-  void writeDownstream(VPIN vpin, int value);
-
-  // Function called to check whether callback notification is supported by this pin.
-  //  Defaults to no, if not overridden by the device.
-  //  The same value should be returned by all pins on the device, so only one need
-  //  be checked.
-  virtual bool _hasCallback(VPIN vpin) { 
-    (void) vpin;
-    return false; 
-  }
-
-  // Method to read pin state (optionally implemented within device class)
+  // Method to read digital pin state (optionally implemented within device class)
   virtual int _read(VPIN vpin) { 
     (void)vpin; 
     return 0;
   };
 
-  // _isActive returns true if the device is currently in an animation of some sort, e.g. is changing
-  //  the output over a period of time.  Returns false unless overridden in sub class.
-  virtual bool _isActive(VPIN vpin) {
-      (void)vpin;
-      return false;
-  }
+  // Method to read analogue pin state (optionally implemented within device class)
+  virtual int _readAnalogue(VPIN vpin) { 
+    (void)vpin; 
+    return 0;
+  };
 
   // Method to perform updates on an ongoing basis (optionally implemented within device class)
   virtual void _loop(unsigned long currentMicros) {
-    (void)currentMicros; // Suppress compiler warning.
+    delayUntil(currentMicros + 0x7fffffff); // Largest time in the future!  Effectively disable _loop calls.
   };
 
   // Method for displaying info on DIAG output (optionally implemented within device class)
@@ -203,11 +211,19 @@ protected:
 
   // Destructor
   virtual ~IODevice() {};
+
+  // Non-virtual function
+  void delayUntil(unsigned long futureMicrosCount) {
+    _nextEntryTime = futureMicrosCount;
+  }
   
   // Common object fields.
   VPIN _firstVpin;
   int _nPins;
 
+  // Flag whether the device supports callbacks.
+  bool _hasCallback = false;
+
   // Pin number of interrupt pin for GPIO extender devices.  The extender module will pull this
   //  pin low if an input changes state.
   int16_t _gpioInterruptPin = -1;
@@ -225,6 +241,7 @@ private:
   static IODevice *findDevice(VPIN vpin);
 
   IODevice *_nextDevice = 0;
+  unsigned long _nextEntryTime;
   static IODevice *_firstDevice;
 
   static IODevice *_nextLoopDevice;
@@ -242,12 +259,14 @@ public:
   static void create(VPIN vpin, int nPins, uint8_t I2CAddress);
   // Constructor
   PCA9685(VPIN vpin, int nPins, uint8_t I2CAddress);
-  enum ProfileType {
-    Instant = 0,  // Moves immediately between positions
+  enum ProfileType : uint8_t {
+    Instant = 0,  // Moves immediately between positions (if duration not specified)
+    UseDuration = 0, // Use specified duration
     Fast = 1,     // Takes around 500ms end-to-end
     Medium = 2,   // 1 second end-to-end
     Slow = 3,     // 2 seconds end-to-end
-    Bounce = 4    // For semaphores/turnouts with a bit of bounce!!
+    Bounce = 4,   // For semaphores/turnouts with a bit of bounce!!
+    NoPowerOff = 0x80, // Flag to be ORed in to suppress power off after move.
   };
 
 private:
@@ -256,8 +275,8 @@ private:
   bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override;
   // Device-specific write functions.
   void _write(VPIN vpin, int value) override;
-  void _writeAnalogue(VPIN vpin, int value, int profile) override;
-  bool _isActive(VPIN vpin) override;
+  void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override;
+  int _read(VPIN vpin) override; // returns the digital state or busy status of the device
   void _loop(unsigned long currentMicros) override;
   void updatePosition(uint8_t pin);
   void writeDevice(uint8_t pin, int value);
@@ -272,21 +291,18 @@ private:
     uint16_t fromPosition : 12;
     uint16_t toPosition : 12; 
     uint8_t profile;  // Config parameter
-    uint8_t stepNumber; // Index of current step (starting from 0)
-    uint8_t numSteps;  // Number of steps in animation, or 0 if none in progress.
-    int8_t state;
-  }; // 12 bytes per element, i.e. per pin in use
+    uint16_t stepNumber; // Index of current step (starting from 0)
+    uint16_t numSteps;  // Number of steps in animation, or 0 if none in progress.
+    uint8_t currentProfile; // profile being used for current animation.
+    uint16_t duration; // time (tenths of a second) for animation to complete.
+  }; // 14 bytes per element, i.e. per pin in use
   
   struct ServoData *_servoData [16];
 
-  static const uint16_t _defaultActivePosition = 410;
-  static const uint16_t _defaultInactivePosition = 205;
-
   static const uint8_t _catchupSteps = 5; // number of steps to wait before switching servo off
   static const byte FLASH _bounceProfile[30];
 
   const unsigned int refreshInterval = 50; // refresh every 50ms
-  unsigned long _lastRefreshTime; // last seen value of micros() count
 
   // structures for setting up non-blocking writes to servo controller
   I2CRB requestBlock;
@@ -335,13 +351,15 @@ private:
   bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override;
   // Device-specific write function.
   void _write(VPIN vpin, int value) override;
-  // Device-specific read function.
+  // Device-specific read functions.
   int _read(VPIN vpin) override;
+  int _readAnalogue(VPIN vpin) override;
   void _display() override;
 
 
   uint8_t *_pinPullups;
   uint8_t *_pinModes; // each bit is 1 for output, 0 for input
+  uint8_t *_pinInUse; 
 };
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////

IO_AnalogueInputs.h

@@ -0,0 +1,165 @@
+/*
+ *  © 2021, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC++EX API
+ *
+ *  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 io_analogueinputs_h
+#define io_analogueinputs_h
+
+// Uncomment following line to slow the scan cycle down to 1second ADC samples, with
+// diagnostic output of scanned values.
+//#define IO_ANALOGUE_SLOW
+
+#include "IODevice.h"
+#include "I2CManager.h"
+#include "DIAG.h"
+#include "FSH.h"
+
+/**********************************************************************************************
+ * ADS111x class for I2C-connected analogue input modules ADS1113, ADS1114 and ADS1115.
+ * 
+ * ADS1113 and ADS1114 are restricted to 1 input.  ADS1115 has a multiplexer which allows 
+ * any of four input pins to be read by its ADC.
+ * 
+ * The driver polls the device in accordance with the constant 'scanInterval' below.  On first loop
+ * entry, the multiplexer is set to pin A0 and the ADC is triggered.  On second and subsequent
+ * entries, the analogue value is read from the conversion register and then the multiplexer and
+ * ADC are set up to read the next pin.
+ * 
+ * The ADS111x is set up as follows:
+ *    Single-shot scan
+ *    Data rate 128 samples/sec (7.8ms/sample, but scanned every 10ms)
+ *    Comparator off
+ *    Gain FSR=6.144V
+ * The gain means that the maximum input voltage of 5V (when Vss=5V) gives a reading 
+ * of 32767*(5.0/6.144) = 26666.
+ * 
+ * A device is configured by the following:
+ *   ADS111x::create(firstVpin, nPins, i2cAddress);
+ * for example
+ *   ADS111x::create(300, 1, 0x48);  // single-input ADS1113
+ *   ADS111x::create(300, 4, 0x48);  // four-input ADS1115
+ * 
+ * Note: The device is simple and does not need initial configuration, so it should recover from
+ * temporary loss of communications or power.
+ **********************************************************************************************/
+class ADS111x: public IODevice { 
+public:
+  ADS111x(VPIN firstVpin, int nPins, uint8_t i2cAddress) {
+    _firstVpin = firstVpin;
+    _nPins = min(nPins,4);
+    _i2cAddress = i2cAddress;
+    _currentPin = 0;
+    for (int8_t i=0; i<_nPins; i++)
+      _value[i] = -1;
+    addDevice(this);
+  }
+  static void create(VPIN firstVpin, int nPins, uint8_t i2cAddress) {
+    new ADS111x(firstVpin, nPins, i2cAddress);
+  }
+private:
+  void _begin() {
+    // Initialise ADS device
+    if (I2CManager.exists(_i2cAddress)) {
+      _nextState = STATE_STARTSCAN;
+#ifdef DIAG_IO
+      _display();
+#endif
+    } else {
+      DIAG(F("ADS111x device not found, I2C:%x"), _i2cAddress);
+      _deviceState = DEVSTATE_FAILED;
+    }
+  }
+  void _loop(unsigned long currentMicros) override {
+
+    // Check that previous non-blocking write has completed, if not then wait
+    uint8_t status = _i2crb.status;
+    if (status == I2C_STATUS_PENDING) return;  // Busy, so don't do anything.
+    if (status == I2C_STATUS_OK) {
+      switch (_nextState) {
+        case STATE_STARTSCAN:
+          // Configure ADC and multiplexer for next scan.  See ADS111x datasheet for details
+          // of configuration register settings.
+          _outBuffer[0] = 0x01; // Config register address
+          _outBuffer[1] = 0xC0 + (_currentPin << 4); // Trigger single-shot, channel n
+          _outBuffer[2] = 0xA3;           // 250 samples/sec, comparator off
+          // Write command, without waiting for completion.
+          I2CManager.write(_i2cAddress, _outBuffer, 3, &_i2crb);
+
+          delayUntil(currentMicros + scanInterval);
+          _nextState = STATE_STARTREAD;
+          break;
+
+        case STATE_STARTREAD:
+          // Reading the pin value
+          _outBuffer[0] = 0x00;  // Conversion register address
+          I2CManager.read(_i2cAddress, _inBuffer, 2, _outBuffer, 1, &_i2crb); // Read register
+          _nextState = STATE_GETVALUE;
+          break;
+
+        case STATE_GETVALUE:
+          _value[_currentPin] = ((uint16_t)_inBuffer[0] << 8) + (uint16_t)_inBuffer[1];
+          #ifdef IO_ANALOGUE_SLOW
+          DIAG(F("ADS111x pin:%d value:%d"), _currentPin, _value[_currentPin]);
+          #endif
+
+          // Move to next pin
+          if (++_currentPin >= _nPins) _currentPin = 0;
+          _nextState = STATE_STARTSCAN;
+          break;
+        
+        default:
+          break;
+      }
+    } else { // error status
+      DIAG(F("ADS111x I2C:x%d Error:%d %S"), _i2cAddress, status, I2CManager.getErrorMessage(status));
+      _deviceState = DEVSTATE_FAILED;
+    }
+  }
+
+  int _readAnalogue(VPIN vpin) override {
+    int pin = vpin - _firstVpin;
+    return _value[pin];
+  }
+  
+  void _display() override {
+    DIAG(F("ADS111x I2C:x%x Configured on Vpins:%d-%d %S"), _i2cAddress, _firstVpin, _firstVpin+_nPins-1,
+      _deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F(""));
+  }
+
+  // ADC conversion rate is 250SPS, or 4ms per conversion.  Set the period between updates to 10ms. 
+  // This is enough to allow the conversion to reliably complete in time.
+  #ifndef IO_ANALOGUE_SLOW
+  const unsigned long scanInterval = 10000UL;  // Period between successive ADC scans in microseconds.
+  #else
+  const unsigned long scanInterval = 1000000UL;  // Period between successive ADC scans in microseconds.
+  #endif
+  enum : uint8_t {
+    STATE_STARTSCAN,
+    STATE_STARTREAD, 
+    STATE_GETVALUE,
+  };
+  uint16_t _value[4];
+  uint8_t _i2cAddress;
+  uint8_t _outBuffer[3];
+  uint8_t _inBuffer[2];
+  uint8_t _currentPin;  // ADC pin currently being scanned
+  I2CRB _i2crb;
+  uint8_t _nextState;
+};
+
+#endif // io_analogueinputs_h

IO_DCCAccessory.cpp

@@ -20,49 +20,49 @@
 #include "DCC.h"
 #include "IODevice.h"
 #include "DIAG.h"
+#include "defines.h"
 
-// Note: For DCC Accessory Decoders, a particular output can be specified by 
-// a linear address, or by an address/subaddress pair, where the subaddress is
-// in the range 0 to 3 and specifies an output within a group of 4.
-// NMRA and DCC++EX accepts addresses in the range 0-511.  Linear addresses
-// are not specified by the NMRA and so different manufacturers may calculate them
-// in different ways.  DCC+EX uses a range of 1-2044 which excludes decoder address 0.
-// Therefore, I've avoided using linear addresses here because of the ambiguities 
-// involved.  Instead I've used the term 'packedAddress'.
+#define PACKEDADDRESS(addr, subaddr) (((addr) << 2)  + (subaddr))
+#define ADDRESS(packedaddr) ((packedaddr) >> 2)
+#define SUBADDRESS(packedaddr) ((packedaddr) % 4)
 
 void DCCAccessoryDecoder::create(VPIN vpin, int nPins, int DCCAddress, int DCCSubaddress) {
   new DCCAccessoryDecoder(vpin, nPins, DCCAddress, DCCSubaddress);
 }
 
-// Constructor
+// Constructors
 DCCAccessoryDecoder::DCCAccessoryDecoder(VPIN vpin, int nPins, int DCCAddress, int DCCSubaddress) {
    _firstVpin = vpin;
   _nPins = nPins;
-  _packedAddress = (DCCAddress << 2) + DCCSubaddress;
+  _packedAddress = PACKEDADDRESS(DCCAddress, DCCSubaddress);
+  addDevice(this);
 }
 
 void DCCAccessoryDecoder::_begin() {
-  int endAddress = _packedAddress + _nPins - 1;
-  int DCCAddress = _packedAddress >> 2;
-  int DCCSubaddress = _packedAddress & 3;
-  DIAG(F("DCC Accessory Decoder configured Vpins:%d-%d Linear Address:%d-%d (%d/%d-%d/%d)"), _firstVpin, _firstVpin+_nPins-1,
-      _packedAddress, _packedAddress+_nPins-1,
-     DCCAddress, DCCSubaddress, endAddress >> 2, endAddress % 4);
+#if defined(DIAG_IO)
+  _display();
+#endif
 }
 
-// Device-specific write function.
+// Device-specific write function.  State 1=closed, 0=thrown.  Adjust for RCN-213 compliance
 void DCCAccessoryDecoder::_write(VPIN id, int state) {
   int packedAddress = _packedAddress + id - _firstVpin;
-  #ifdef DIAG_IO
+#if defined(HAL_ACCESSORY_COMMAND_REVERSE)
+  state = !state;
+#ifdef DIAG_IO
+  DIAG(F("DCC Write Linear Address:%d State:%d (inverted)"), packedAddress, state);
+#endif
+#else
+#ifdef DIAG_IO
   DIAG(F("DCC Write Linear Address:%d State:%d"), packedAddress, state);
-  #endif
-  DCC::setAccessory(packedAddress >> 2, packedAddress % 4, state);
+#endif
+#endif
+  DCC::setAccessory(ADDRESS(packedAddress), SUBADDRESS(packedAddress), state);
 }
 
 void DCCAccessoryDecoder::_display() {
   int endAddress = _packedAddress + _nPins - 1;
-  DIAG(F("DCC Accessory Vpins:%d-%d Linear Address:%d-%d (%d/%d-%d/%d)"), _firstVpin, _firstVpin+_nPins-1,
-      _packedAddress, _packedAddress+_nPins-1,
-      _packedAddress >> 2, _packedAddress % 4, endAddress >> 2, endAddress % 4);
+  DIAG(F("DCCAccessoryDecoder Configured on Vpins:%d-%d Addresses %d/%d-%d/%d)"), _firstVpin, _firstVpin+_nPins-1,
+      ADDRESS(_packedAddress), SUBADDRESS(_packedAddress), ADDRESS(endAddress), SUBADDRESS(endAddress));
 }
 

IO_DFPlayer.h

@@ -0,0 +1,255 @@
+/*
+ *  © 2021, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC++EX API
+ *
+ *  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/>.
+ */
+
+/*
+ * DFPlayer is an MP3 player module with an SD card holder.  It also has an integrated
+ * amplifier, so it only needs a power supply and a speaker.
+ * 
+ * This driver allows the device to be controlled through IODevice::write() and 
+ * IODevice::writeAnalogue() calls.
+ * 
+ * The driver is configured as follows:
+ * 
+ *       DFPlayer::create(firstVpin, nPins, Serialn);
+ * 
+ * Where firstVpin is the first vpin reserved for reading the device,
+ *       nPins is the number of pins to be allocated (max 5)
+ *   and Serialn is the name of the Serial port connected to the DFPlayer (e.g. Serial1).
+ * 
+ * Example:
+ *   In mySetup function within mySetup.cpp:
+ *       DFPlayer::create(3500, 5, Serial1);
+ * 
+ * Writing an analogue value 0-2999 to the first pin will select a numbered file from the SD card;
+ * Writing an analogue value 0-30 to the second pin will set the volume of the output;
+ * Writing a digital value to the first pin will play or stop the file;
+ * Reading a digital value from any pin will return true(1) if the player is playing, false(0) otherwise.
+ * 
+ * From EX-RAIL, the following commands may be used:
+ *   SET(3500)      -- starts playing the first file on the SD card
+ *   SET(3501)      -- starts playing the second file on the SD card
+ *   etc.
+ *   RESET(3500)    -- stops all playing on the player
+ *   WAITFOR(3500)  -- wait for the file currently being played by the player to complete
+ *   SERVO(3500,23,0)  -- plays file 23 at current volume
+ *   SERVO(3500,23,30)  -- plays file 23 at volume 30 (maximum)
+ *   SERVO(3501,20,0)   -- Sets the volume to 20
+ * 
+ * NB The DFPlayer's serial lines are not 5V safe, so connecting the Arduino TX directly 
+ * to the DFPlayer's RX terminal will cause lots of noise over the speaker, or worse.
+ * A 1k resistor in series with the module's RX terminal will alleviate this.
+ */
+
+#ifndef IO_DFPlayer_h
+#define IO_DFPlayer_h
+
+#include "IODevice.h"
+
+class DFPlayer : public IODevice {
+private: 
+  HardwareSerial *_serial;
+  bool _playing = false;
+  uint8_t _inputIndex = 0;
+  unsigned long _commandSendTime; // Allows timeout processing
+
+public:
+  // Constructor
+  DFPlayer(VPIN firstVpin, int nPins, HardwareSerial &serial) :
+    IODevice(firstVpin, nPins),
+    _serial(&serial) 
+  {
+    addDevice(this);
+  }
+
+  static void create(VPIN firstVpin, int nPins, HardwareSerial &serial) {
+    new DFPlayer(firstVpin, nPins, serial);
+  }
+
+protected:
+  void _begin() override {
+    _serial->begin(9600);
+    _deviceState = DEVSTATE_INITIALISING;
+
+    // Send a query to the device to see if it responds
+    sendPacket(0x42); 
+    _commandSendTime = micros();
+  }
+
+  void _loop(unsigned long currentMicros) override {
+    // Check for incoming data on _serial, and update busy flag accordingly.
+    // Expected message is in the form "7F FF 06 3D xx xx xx xx xx EF"
+    while (_serial->available()) {
+      int c = _serial->read();
+      if (c == 0x7E) 
+        _inputIndex = 1;
+      else if ((c==0xFF && _inputIndex==1)
+            || (c==0x3D && _inputIndex==3) 
+            || (_inputIndex >=4 && _inputIndex <= 8))
+        _inputIndex++;
+      else if (c==0x06 && _inputIndex==2) { 
+        // Valid message prefix, so consider the device online
+        if (_deviceState==DEVSTATE_INITIALISING) {
+          _deviceState = DEVSTATE_NORMAL;
+          #ifdef DIAG_IO
+          _display();
+          #endif
+        }
+        _inputIndex++;
+      } else if (c==0xEF && _inputIndex==9) {
+        // End of play
+        if (_playing) {
+          #ifdef DIAG_IO
+          DIAG(F("DFPlayer: Finished"));
+          #endif
+          _playing = false;
+        }
+        _inputIndex = 0;
+      } else 
+        _inputIndex = 0;  // Unrecognised character sequence, start again!
+    }
+    // Check if the initial prompt to device has timed out.  Allow 1 second
+    if (_deviceState == DEVSTATE_INITIALISING && currentMicros - _commandSendTime > 1000000UL) {
+      DIAG(F("DFPlayer device not responding on serial port"));
+      _deviceState = DEVSTATE_FAILED;
+    }
+    delayUntil(currentMicros + 10000); // Only enter every 10ms
+  }
+
+  // Write with value 1 starts playing a song.  The relative pin number is the file number.
+  // Write with value 0 stops playing.
+  void _write(VPIN vpin, int value) override {
+    int pin = vpin - _firstVpin;
+    if (value) {
+      // Value 1, start playing
+      #ifdef DIAG_IO
+      DIAG(F("DFPlayer: Play %d"), pin+1);
+      #endif
+      sendPacket(0x03, pin+1);
+      _playing = true;
+    } else {
+      // Value 0, stop playing
+      #ifdef DIAG_IO
+      DIAG(F("DFPlayer: Stop"));
+      #endif
+      sendPacket(0x16);
+      _playing = false;
+    }
+  }
+
+  // WriteAnalogue on first pin uses the nominated value as a file number to start playing, if file number > 0.
+  // Volume may be specified as second parameter to writeAnalogue.
+  // If value is zero, the player stops playing.  
+  // WriteAnalogue on second pin sets the output volume.
+  void _writeAnalogue(VPIN vpin, int value, uint8_t volume=0, uint16_t=0) override { 
+    uint8_t pin = vpin - _firstVpin;
+ 
+    // Validate parameter.
+    volume = min(30,volume);
+
+    if (pin == 0) {
+      // Play track 
+      if (value > 0) {
+        #ifdef DIAG_IO
+        DIAG(F("DFPlayer: Play %d"), value);
+        #endif
+        sendPacket(0x03, value); // Play track
+        _playing = true;
+        if (volume > 0) {
+          #ifdef DIAG_IO
+          DIAG(F("DFPlayer: Volume %d"), volume);
+          #endif
+          sendPacket(0x06, volume);  // Set volume
+        }
+      } else {
+        #ifdef DIAG_IO
+        DIAG(F("DFPlayer: Stop"));
+        #endif
+        sendPacket(0x16); // Stop play
+        _playing = false;
+      }
+    } else if (pin == 1) {
+      // Set volume (0-30)
+      if (value > 30) value = 30;
+      else if (value < 0) value = 0;
+      #ifdef DIAG_IO
+      DIAG(F("DFPlayer: Volume %d"), value);
+      #endif
+      sendPacket(0x06, value);      
+    }
+  }
+
+  // A read on any pin indicates whether the player is still playing.
+  int _read(VPIN) override {
+    return _playing;
+  }
+
+  void _display() override {
+    DIAG(F("DFPlayer Configured on Vpins:%d-%d %S"), _firstVpin, _firstVpin+_nPins-1,
+      (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
+  }
+  
+private:
+  // 7E FF 06 0F 00 01 01 xx xx EF
+  // 0	->	7E is start code
+  // 1	->	FF is version
+  // 2	->	06 is length
+  // 3	->	0F is command
+  // 4	->	00 is no receive
+  // 5~6	->	01 01 is argument
+  // 7~8	->	checksum = 0 - ( FF+06+0F+00+01+01 )
+  // 9	->	EF is end code
+
+  void sendPacket(uint8_t command, uint16_t arg = 0)
+  {
+    uint8_t out[] = { 0x7E,
+        0xFF,
+        06,
+        command,
+        00,
+        static_cast<uint8_t>(arg >> 8),
+        static_cast<uint8_t>(arg & 0x00ff),
+        00,
+        00,
+        0xEF };
+
+    setChecksum(out);
+
+    _serial->write(out, sizeof(out));
+  }
+
+  uint16_t calcChecksum(uint8_t* packet)
+  {
+    uint16_t sum = 0;
+    for (int i = 1; i < 7; i++)
+    {
+      sum += packet[i];
+    }
+    return -sum;
+  }
+
+  void setChecksum(uint8_t* out)
+  {
+    uint16_t sum = calcChecksum(out);
+
+    out[7] = (sum >> 8);
+    out[8] = (sum & 0xff);
+  }
+};
+
+#endif // IO_DFPlayer_h

IO_ExampleSerial.cpp

@@ -42,7 +42,9 @@ void IO_ExampleSerial::create(VPIN firstVpin, int nPins, HardwareSerial *serial,
 // Device-specific initialisation
 void IO_ExampleSerial::_begin() {
   _serial->begin(_baud);
-  DIAG(F("ExampleSerial configured Vpins:%d-%d"), _firstVpin, _firstVpin+_nPins-1);
+#if defined(DIAG_IO)
+  _display();
+#endif
 
   // Send a few # characters to the output
   for (uint8_t i=0; i<3; i++)
@@ -121,7 +123,7 @@ void IO_ExampleSerial::_loop(unsigned long currentMicros) {
 }
 
 void IO_ExampleSerial::_display() {
-  DIAG(F("IO_ExampleSerial VPins:%d-%d"), (int)_firstVpin, 
+  DIAG(F("IO_ExampleSerial Configured on VPins:%d-%d"), (int)_firstVpin, 
     (int)_firstVpin+_nPins-1);
 }
 

IO_GPIOBase.h

@@ -45,10 +45,6 @@ protected:
   int _read(VPIN vpin) override;
   void _display() override;
   void _loop(unsigned long currentMicros) override;
-  bool _hasCallback(VPIN vpin) {
-    (void)vpin;   // suppress compiler warning
-    return true;  // Enable callback if caller wants to use it.
-  }
 
   // Data fields
   uint8_t _I2CAddress; 
@@ -57,9 +53,9 @@ protected:
   T _portOutputState;
   T _portMode;
   T _portPullup;
+  T _portInUse;
   // Interval between refreshes of each input port
   static const int _portTickTime = 4000;
-  unsigned long _lastLoopEntry = 0;
 
   // Virtual functions for interfacing with I2C GPIO Device
   virtual void _writeGpioPort() = 0;
@@ -80,12 +76,13 @@ protected:
 
 // Constructor
 template <class T>
-GPIOBase<T>::GPIOBase(FSH *deviceName, VPIN firstVpin, uint8_t nPins, uint8_t I2CAddress, int interruptPin) {
+GPIOBase<T>::GPIOBase(FSH *deviceName, VPIN firstVpin, uint8_t nPins, uint8_t I2CAddress, int interruptPin) :
+  IODevice(firstVpin, nPins)
+{
   _deviceName = deviceName;
-  _firstVpin = firstVpin;
-  _nPins = nPins;
   _I2CAddress = I2CAddress;
   _gpioInterruptPin = interruptPin;
+  _hasCallback = true;
   // Add device to list of devices.
   addDevice(this);
 }
@@ -99,14 +96,19 @@ void GPIOBase<T>::_begin() {
   I2CManager.begin();
   I2CManager.setClock(400000);
   if (I2CManager.exists(_I2CAddress)) {
+#if defined(DIAG_IO)
     _display();
+#endif
     _portMode = 0;  // default to input mode
     _portPullup = -1; // default to pullup enabled
-    _portInputState = -1; 
+    _portInputState = -1;
+    _portInUse = 0;
+    _setupDevice();
+    _deviceState = DEVSTATE_NORMAL;
+  } else {
+    DIAG(F("%S I2C:x%x Device not detected"), _deviceName, _I2CAddress);
+    _deviceState = DEVSTATE_FAILED;
   }
-  _setupDevice();
-  _deviceState = DEVSTATE_NORMAL;
-  _lastLoopEntry = micros();
 }
 
 // Configuration parameters for inputs: 
@@ -126,11 +128,15 @@ bool GPIOBase<T>::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCoun
     _portPullup |= mask;
   else
     _portPullup &= ~mask;
+  // Mark that port has been accessed
+  _portInUse |= mask;
+  // Set input mode
+  _portMode &= ~mask;
 
   // Call subclass's virtual function to write to device
+  _writePortModes();
   _writePullups();
-  // Re-read port following change
-  _readGpioPort();
+  // Port change will be notified on next loop entry.
 
   return true;
 }
@@ -145,9 +151,12 @@ void GPIOBase<T>::_loop(unsigned long currentMicros) {
       _deviceState = DEVSTATE_NORMAL;
     } else {
       _deviceState = DEVSTATE_FAILED;
-      DIAG(F("%S I2C:x%x Error:%d"), _deviceName, _I2CAddress, status);
+      DIAG(F("%S I2C:x%x Error:%d %S"), _deviceName, _I2CAddress, status, 
+        I2CManager.getErrorMessage(status));
     }
     _processCompletion(status);
+  // Set unused pin and write mode pin value to 1
+    _portInputState |= ~_portInUse | _portMode;
 
     // Scan for changes in input states and invoke callback (if present)
     T differences = lastPortStates ^ _portInputState;
@@ -169,27 +178,25 @@ void GPIOBase<T>::_loop(unsigned long currentMicros) {
     #endif
   }
 
-  // Check if interrupt configured.  If so, and pin is not pulled down, finish.
-  if (_gpioInterruptPin >= 0) {
-    if (digitalRead(_gpioInterruptPin)) return;
-  } else
-  // No interrupt pin.  Check if tick has elapsed.  If not, finish.
-  if (currentMicros - _lastLoopEntry < _portTickTime) return;
+  // Check if interrupt configured.  If not, or if it is active (pulled down), then
+  //  initiate a scan.
+  if (_gpioInterruptPin < 0 || !digitalRead(_gpioInterruptPin)) {
+    // TODO: Could suppress reads if there are no pins configured as inputs!
 
-  // TODO: Could suppress reads if there are no pins configured as inputs!
-
-  // Read input
-  _lastLoopEntry = currentMicros;
-  if (_deviceState == DEVSTATE_NORMAL) {
-    _readGpioPort(false);  // Initiate non-blocking read
-    _deviceState= DEVSTATE_SCANNING;
+    // Read input
+    if (_deviceState == DEVSTATE_NORMAL) {
+      _readGpioPort(false);  // Initiate non-blocking read
+      _deviceState= DEVSTATE_SCANNING;
+    }
   }
+  // Delay next entry until tick elapsed.
+  delayUntil(currentMicros + _portTickTime);
 }
 
 template <class T>
 void GPIOBase<T>::_display() {
-  DIAG(F("%S I2C:x%x Configured on Vpins:%d-%d"), _deviceName, _I2CAddress, 
-    _firstVpin, _firstVpin+_nPins-1);
+  DIAG(F("%S I2C:x%x Configured on Vpins:%d-%d %S"), _deviceName, _I2CAddress, 
+    _firstVpin, _firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
 }
 
 template <class T>
@@ -200,8 +207,9 @@ void GPIOBase<T>::_write(VPIN vpin, int value) {
   DIAG(F("%S I2C:x%x Write Pin:%d Val:%d"), _deviceName, _I2CAddress, pin, value);
   #endif
 
-  // Set port mode output
+  // Set port mode output if currently not output mode
   if (!(_portMode & mask)) {
+    _portInUse |= mask;
     _portMode |= mask;
     _writePortModes();
   }
@@ -221,12 +229,16 @@ int GPIOBase<T>::_read(VPIN vpin) {
   int pin = vpin - _firstVpin;
   T mask = 1 << pin;
 
-  // Set port mode to input
-  if (_portMode & mask) {
+  // Set port mode to input if currently output or first use
+  if ((_portMode | ~_portInUse) & mask) {
     _portMode &= ~mask;
+    _portInUse |= mask;
+    _writePullups();
     _writePortModes();
     // Port won't have been read yet, so read it now.
     _readGpioPort();
+  // Set unused pin and write mode pin value to 1
+    _portInputState |= ~_portInUse | _portMode;
     #ifdef DIAG_IO
     DIAG(F("%S I2C:x%x PortStates:%x"), _deviceName, _I2CAddress, _portInputState);
     #endif

IO_HCSR04.h

@@ -17,31 +17,37 @@
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-/* 
+/*
  * The HC-SR04 module has an ultrasonic transmitter (40kHz) and a receiver.
- * It is operated through two signal pins.  When the transmit pin is set to 1 for 
- * 10us, on the falling edge the transmitter sends a short transmission of 
+ * It is operated through two signal pins.  When the transmit pin is set to 1
+ * for 10us, on the falling edge the transmitter sends a short transmission of
  * 8 pulses (like a sonar 'ping').  This is reflected off objects and received
  * by the receiver.  A pulse is sent on the receive pin whose length is equal
  * to the delay between the transmission of the pulse and the detection of
  * its echo.  The distance of the reflecting object is calculated by halving
  * the time (to allow for the out and back distance), then multiplying by the
  * speed of sound (assumed to be constant).
- * 
+ *
  * This driver polls the HC-SR04 by sending the trigger pulse and then measuring
- * the length of the received pulse.  If the calculated distance is less than the
- * threshold, the output changes to 1.  If it is greater than the threshold plus
- * a hysteresis margin, the output changes to 0.
- * 
- * The measurement would be more reliable if interrupts were disabled while the
- * pulse is being timed.  However, this would affect other functions in the CS
- * so the measurement is being performed with interrupts enabled.  Also, we could
- * use an interrupt pin in the Arduino for the timing, but the same consideration 
- * applies.
- * 
- * Note: The timing accuracy required by this means that the pins have to be 
- * direct Arduino pins; GPIO pins on an IO Extender cannot provide the required
- * accuracy.
+ * the length of the received pulse.  If the calculated distance is less than
+ * the threshold, the output state returned by a read() call changes to 1.  If
+ * the distance is greater than the threshold plus a hysteresis margin, the
+ * output changes to 0. The device also supports readAnalogue(), which returns
+ * the measured distance in cm, or 32767 if the distance exceeds the
+ * offThreshold.
+ *
+ * It might be thought that the measurement would be more reliable if interrupts
+ * were disabled while the pulse is being timed.  However, this would affect
+ * other functions in the CS so the measurement is being performed with
+ * interrupts enabled.  Also, we could use an interrupt pin in the Arduino for
+ * the timing, but the same consideration applies.  In any case, the DCC
+ * interrupt occurs once every 58us, so any IRC code is much faster than that.
+ * And 58us corresponds to 1cm in the calculation, so the effect of
+ * interrupts is negligible.
+ *
+ * Note: The timing accuracy required for measuring the pulse length means that
+ * the pins have to be direct Arduino pins; GPIO pins on an IO Extender cannot
+ * provide the required accuracy.
  */
 
 #ifndef IO_HCSR04_H
@@ -53,45 +59,45 @@ class HCSR04 : public IODevice {
 
 private:
   // pins must be arduino GPIO pins, not extender pins or HAL pins.
-  int _transmitPin = -1;
-  int _receivePin = -1;
+  int _trigPin = -1;
+  int _echoPin = -1;
   // Thresholds for setting active state in cm.
   uint8_t _onThreshold;  // cm
   uint8_t _offThreshold; // cm
+  // Last measured distance in cm.
+  uint16_t _distance;
   // Active=1/inactive=0 state 
   uint8_t _value = 0;
-  // Time of last loop execution
-  unsigned long _lastExecutionTime;
   // Factor for calculating the distance (cm) from echo time (ms).
   //  Based on a speed of sound of 345 metres/second.
   const uint16_t factor = 58; // ms/cm
 
 public:
   // Constructor perfroms static initialisation of the device object
-  HCSR04 (VPIN vpin, int transmitPin, int receivePin, uint16_t onThreshold, uint16_t offThreshold) {
+  HCSR04 (VPIN vpin, int trigPin, int echoPin, uint16_t onThreshold, uint16_t offThreshold) {
     _firstVpin = vpin;
     _nPins = 1;
-    _transmitPin = transmitPin;
-    _receivePin = receivePin;
+    _trigPin = trigPin;
+    _echoPin = echoPin;
     _onThreshold = onThreshold;
     _offThreshold = offThreshold;
     addDevice(this);
   }
 
   // Static create function provides alternative way to create object
-  static void create(VPIN vpin, int transmitPin, int receivePin, uint16_t onThreshold, uint16_t offThreshold) {
-    new HCSR04(vpin, transmitPin, receivePin, onThreshold, offThreshold);
+  static void create(VPIN vpin, int trigPin, int echoPin, uint16_t onThreshold, uint16_t offThreshold) {
+    new HCSR04(vpin, trigPin, echoPin, onThreshold, offThreshold);
   }
 
 protected:
   // _begin function called to perform dynamic initialisation of the device
   void _begin() override {
-    pinMode(_transmitPin, OUTPUT);
-    pinMode(_receivePin, INPUT);
-    ArduinoPins::fastWriteDigital(_transmitPin, 0);
-    _lastExecutionTime = micros();
-    DIAG(F("HCSR04 configured on VPIN:%d TXpin:%d RXpin:%d On:%dcm Off:%dcm"),
-      _firstVpin, _transmitPin, _receivePin, _onThreshold, _offThreshold);
+    pinMode(_trigPin, OUTPUT);
+    pinMode(_echoPin, INPUT);
+    ArduinoPins::fastWriteDigital(_trigPin, 0);
+#if defined(DIAG_IO)
+    _display();
+#endif
   }
 
   // _read function - just return _value (calculated in _loop).
@@ -100,13 +106,21 @@ protected:
     return _value;
   }
 
+  int _readAnalogue(VPIN vpin) override {
+    (void)vpin; // avoid compiler warning
+    return _distance;
+  }
+
   // _loop function - read HC-SR04 once every 50 milliseconds.
   void _loop(unsigned long currentMicros) override {
-    if (currentMicros - _lastExecutionTime > 50000) {
-      _lastExecutionTime = currentMicros;
+    read_HCSR04device();
+    // Delay next loop entry until 50ms have elapsed.
+    delayUntil(currentMicros + 50000UL);
+  }
 
-      _value = read_HCSR04device();
-    }
+  void _display() override {
+    DIAG(F("HCSR04 Configured on Vpin:%d TrigPin:%d EchoPin:%d On:%dcm Off:%dcm"),
+      _firstVpin, _trigPin, _echoPin, _onThreshold, _offThreshold);
   }
 
 private:
@@ -121,51 +135,52 @@ private:
   //  measured distance is less than the onThreshold, and is set to 0 if the measured distance is
   //  greater than the offThreshold.
   //
-  uint8_t read_HCSR04device() {
+  void read_HCSR04device() {
     // uint16 enough to time up to 65ms
     uint16_t startTime, waitTime, currentTime, maxTime;  
 
     // If receive pin is still set on from previous call, abort the read.
-    if (ArduinoPins::fastReadDigital(_receivePin)) return _value;
+    if (ArduinoPins::fastReadDigital(_echoPin))
+      return;
 
     // Send 10us pulse to trigger transmitter
-    ArduinoPins::fastWriteDigital(_transmitPin, 1);
+    ArduinoPins::fastWriteDigital(_trigPin, 1);
     delayMicroseconds(10);
-    ArduinoPins::fastWriteDigital(_transmitPin, 0);
+    ArduinoPins::fastWriteDigital(_trigPin, 0);
 
     // Wait for receive pin to be set
     startTime = currentTime = micros();
     maxTime = factor * _offThreshold * 2;
-    while (!ArduinoPins::fastReadDigital(_receivePin)) {
+    while (!ArduinoPins::fastReadDigital(_echoPin)) {
       // lastTime = currentTime;
       currentTime = micros();
       waitTime = currentTime - startTime;
       if (waitTime > maxTime) {
         // Timeout waiting for pulse start, abort the read
-        return _value;
+        return;
       }
     }
 
     // Wait for receive pin to reset, and measure length of pulse
     startTime = currentTime = micros();
     maxTime = factor * _offThreshold;
-    while (ArduinoPins::fastReadDigital(_receivePin)) {
+    while (ArduinoPins::fastReadDigital(_echoPin)) {
       currentTime = micros();
       waitTime = currentTime - startTime;
       // If pulse is too long then set return value to zero,
       //  and finish without waiting for end of pulse.
       if (waitTime > maxTime) {
         // Pulse length longer than maxTime, reset value.
-        return 0;
+        _value = 0;
+        _distance = 32767;
+        return;
       }
     } 
     // Check if pulse length is below threshold, if so set value.
     //DIAG(F("HCSR04: Pulse Len=%l Distance=%d"), waitTime, distance);
-    uint16_t distance = waitTime / factor; // in centimetres
-    if (distance < _onThreshold) 
-      return 1;
-
-    return _value;
+    _distance = waitTime / factor; // in centimetres
+    if (_distance < _onThreshold) 
+      _value = 1;
   }
 
 };

IO_MCP23008.h

@@ -42,14 +42,18 @@ private:
     I2CManager.write(_I2CAddress, 2, REG_GPIO, _portOutputState);
   }
   void _writePullups() override {
-    I2CManager.write(_I2CAddress, 2, REG_GPPU, _portPullup);  
+    // Set pullups only for in-use pins.  This prevents pullup being set for a pin that
+    //  is intended for use as an output but hasn't been written to yet.
+    I2CManager.write(_I2CAddress, 2, REG_GPPU, _portPullup & _portInUse);  
   }
   void _writePortModes() override {
-    // Each bit is 1 for an input, 0 for an output, i.e. inverted.
-    I2CManager.write(_I2CAddress, 2, REG_IODIR, ~_portMode);
-    // Enable interrupt-on-change for pins that are inputs (_portMode=0)
+    // Write 0 to IODIR for in-use pins that are outputs, 1 for others.
+    uint8_t temp = ~(_portMode & _portInUse);
+    I2CManager.write(_I2CAddress, 2, REG_IODIR, temp);
+    // Enable interrupt-on-change for in-use pins that are inputs (_portMode=0)
+    temp = ~_portMode & _portInUse;
     I2CManager.write(_I2CAddress, 2, REG_INTCON, 0x00);
-    I2CManager.write(_I2CAddress, 2, REG_GPINTEN, ~_portMode);
+    I2CManager.write(_I2CAddress, 2, REG_GPINTEN, temp);
   }
   void _readGpioPort(bool immediate) override {
     if (immediate) {

IO_MCP23017.h

@@ -48,14 +48,19 @@ private:
     I2CManager.write(_I2CAddress, 3, REG_GPIOA, _portOutputState, _portOutputState>>8);
   }
   void _writePullups() override {
-    I2CManager.write(_I2CAddress, 3, REG_GPPUA, _portPullup, _portPullup>>8);  
+    // Set pullups only for in-use pins.  This prevents pullup being set for a pin that
+    //  is intended for use as an output but hasn't been written to yet.
+    uint16_t temp = _portPullup & _portInUse;
+    I2CManager.write(_I2CAddress, 3, REG_GPPUA, temp, temp>>8);  
   }
   void _writePortModes() override {
-    // Write 1 to IODIR for pins that are inputs, 0 for outputs (i.e. _portMode inverted)
-    I2CManager.write(_I2CAddress, 3, REG_IODIRA, ~_portMode, (~_portMode)>>8);
-    // Enable interrupt for those pins which are inputs (_portMode=0)
+    // Write 0 to IODIR for in-use pins that are outputs, 1 for others.
+    uint16_t temp = ~(_portMode & _portInUse);
+    I2CManager.write(_I2CAddress, 3, REG_IODIRA, temp, temp>>8);
+    // Enable interrupt for in-use pins which are inputs (_portMode=0)
+    temp = ~_portMode & _portInUse;
     I2CManager.write(_I2CAddress, 3, REG_INTCONA, 0x00, 0x00);
-    I2CManager.write(_I2CAddress, 3, REG_GPINTENA, ~_portMode, (~_portMode)>>8);
+    I2CManager.write(_I2CAddress, 3, REG_GPINTENA, temp, temp>>8);
   }
   void _readGpioPort(bool immediate) override {
     if (immediate) {

IO_PCA9685.cpp

@@ -45,28 +45,30 @@ void PCA9685::create(VPIN firstVpin, int nPins, uint8_t I2CAddress) {
 // Configure a port on the PCA9685.
 bool PCA9685::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) {
   if (configType != CONFIGURE_SERVO) return false;
-  if (paramCount != 4) return false;
+  if (paramCount != 5) return false;
   #ifdef DIAG_IO
-  DIAG(F("PCA9685 Configure VPIN:%d Apos:%d Ipos:%d Profile:%d state:%d"), 
-    vpin, params[0], params[1], params[2], params[3]);
+  DIAG(F("PCA9685 Configure VPIN:%d Apos:%d Ipos:%d Profile:%d Duration:%d state:%d"), 
+    vpin, params[0], params[1], params[2], params[3], params[4]);
   #endif
 
   int8_t pin = vpin - _firstVpin;
   struct ServoData *s = _servoData[pin];
-  if (!s) { 
+  if (s == NULL) { 
     _servoData[pin] = (struct ServoData *)calloc(1, sizeof(struct ServoData));
     s = _servoData[pin];
     if (!s) return false; // Check for failed memory allocation
   }
 
   s->activePosition = params[0];
-  s->currentPosition = s->inactivePosition = params[1];
+  s->inactivePosition = params[1];
   s->profile = params[2];
+  s->duration = params[3];
+  int state = params[4];
 
-  // Position servo to initial state
-  s->state = -1; // Set unknown state, to force reposition
-  _write(vpin, params[3]);
-
+  if (state != -1) {
+    // Position servo to initial state
+    _writeAnalogue(vpin, state ? s->activePosition : s->inactivePosition, 0, 0);
+  } 
   return true;
 }
 
@@ -75,6 +77,8 @@ PCA9685::PCA9685(VPIN firstVpin, int nPins, uint8_t I2CAddress) {
   _firstVpin = firstVpin;
   _nPins = min(nPins, 16);
   _I2CAddress = I2CAddress;
+  // To save RAM, space for servo configuration is not allocated unless a pin is used.
+  // Initialise the pointers to NULL.
   for (int i=0; i<_nPins; i++)
     _servoData[i] = NULL;
 
@@ -93,7 +97,6 @@ void PCA9685::_begin() {
 
   // Initialise I/O module here.
   if (I2CManager.exists(_I2CAddress)) {
-    DIAG(F("PCA9685 I2C:%x configured Vpins:%d-%d"), _I2CAddress, _firstVpin, _firstVpin+_nPins-1);
     writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_SLEEP | MODE1_AI);    
     writeRegister(_I2CAddress, PCA9685_PRESCALE, PRESCALE_50HZ);   // 50Hz clock, 20ms pulse period.
     writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_AI);
@@ -101,11 +104,17 @@ void PCA9685::_begin() {
     // In theory, we should wait 500us before sending any other commands to each device, to allow
     // the PWM oscillator to get running.  However, we don't do any specific wait, as there's 
     // plenty of other stuff to do before we will send a command.
-  }
+  #if defined(DIAG_IO)
+    _display();
+  #endif
+  } else
+    _deviceState = DEVSTATE_FAILED;
 }
 
-// Device-specific write function, invoked from IODevice::write().
+// Device-specific write function, invoked from IODevice::write().  
+// For this function, the configured profile is used.
 void PCA9685::_write(VPIN vpin, int value) {
+  if (_deviceState == DEVSTATE_FAILED) return;
   #ifdef DIAG_IO
   DIAG(F("PCA9685 Write Vpin:%d Value:%d"), vpin, value);
   #endif
@@ -113,97 +122,93 @@ void PCA9685::_write(VPIN vpin, int value) {
   if (value) value = 1;
 
   struct ServoData *s = _servoData[pin];
-  if (!s) {
-    // Pin not configured, just write default positions to servo controller
-    if (value) 
-      writeDevice(pin, _defaultActivePosition);
-    else 
-      writeDevice(pin, _defaultInactivePosition);
-  } else {
-    // Use configured parameters for advanced transitions
-    uint8_t profile = s->profile;
-    // If current position not known, go straight to selected position.
-    if (s->state == -1) profile = Instant;
-
-    // Animated profile.  Initiate the appropriate action.
-    s->numSteps = profile==Fast ? 10 : 
-                  profile==Medium ? 20 : 
-                  profile==Slow ? 40 : 
-                  profile==Bounce ? sizeof(_bounceProfile)-1 : 
-                  1;
-    s->state = value;
-    s->stepNumber = 0;
-
-    // Update new from/to positions to initiate or change animation.
-    s->fromPosition = s->currentPosition;
-    s->toPosition = s->state ? s->activePosition : s->inactivePosition;
-  }
+  if (s != NULL) {
+    // Use configured parameters
+    _writeAnalogue(vpin, value ? s->activePosition : s->inactivePosition, s->profile, s->duration);
+  } // else { /* ignorethe request */ }
 }
 
 // Device-specific writeAnalogue function, invoked from IODevice::writeAnalogue().
-void PCA9685::_writeAnalogue(VPIN vpin, int value, int profile) {
+// Profile is as follows:
+//  Bit 7:     0=Set PWM to 0% to power off servo motor when finished
+//             1=Keep PWM pulses on (better when using PWM to drive an LED)
+//  Bits 6-0:  0           Use specified duration (defaults to 0 deciseconds)
+//             1 (Fast)    Move servo in 0.5 seconds
+//             2 (Medium)  Move servo in 1.0 seconds
+//             3 (Slow)    Move servo in 2.0 seconds
+//             4 (Bounce)  Servo 'bounces' at extremes.
+//            
+void PCA9685::_writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) {
+  if (_deviceState == DEVSTATE_FAILED) return;
   #ifdef DIAG_IO
-  DIAG(F("PCA9685 WriteAnalogue Vpin:%d Value:%d Profile:%d"), vpin, value, profile);
+  DIAG(F("PCA9685 WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d"), 
+    vpin, value, profile, duration);
   #endif
   int pin = vpin - _firstVpin;
   if (value > 4095) value = 4095;
   else if (value < 0) value = 0;
 
   struct ServoData *s = _servoData[pin];
-
-  if (!s) {
-    // Servo pin not configured, so configure now.
+  if (s == NULL) {
+    // Servo pin not configured, so configure now using defaults
     s = _servoData[pin] = (struct ServoData *) calloc(sizeof(struct ServoData), 1);
-    s->activePosition = _defaultActivePosition;
-    s->inactivePosition = _defaultInactivePosition;
-    s->currentPosition = value; // Don't know where we're moving from.
+    if (s == NULL) return;  // Check for memory allocation failure
+    s->activePosition = 0;
+    s->inactivePosition = 0;
+    s->currentPosition = value;
+    s->profile = Instant;  // Use instant profile (but not this time)
   }
-  s->profile = profile;
+
   // Animated profile.  Initiate the appropriate action.
-  s->numSteps = profile==Fast ? 10 : 
-                profile==Medium ? 20 : 
-                profile==Slow ? 40 : 
-                profile==Bounce ? sizeof(_bounceProfile)-1 : 
-                1;
+  s->currentProfile = profile;
+  uint8_t profileValue = profile & ~NoPowerOff;  // Mask off 'don't-power-off' bit.
+  s->numSteps = profileValue==Fast ? 10 :   // 0.5 seconds
+                profileValue==Medium ? 20 : // 1.0 seconds
+                profileValue==Slow ? 40 :   // 2.0 seconds
+                profileValue==Bounce ? sizeof(_bounceProfile)-1 : // ~ 1.5 seconds
+                duration * 2 + 1; // Convert from deciseconds (100ms) to refresh cycles (50ms)
   s->stepNumber = 0;
   s->toPosition = value;
   s->fromPosition = s->currentPosition;
 }
 
-// _isActive returns true if the device is currently in executing an animation, 
+// _read returns true if the device is currently in executing an animation, 
 //  changing the output over a period of time.
-bool PCA9685::_isActive(VPIN vpin) {
+int PCA9685::_read(VPIN vpin) {
+  if (_deviceState == DEVSTATE_FAILED) return 0;
   int pin = vpin - _firstVpin;
   struct ServoData *s = _servoData[pin];
-  if (!s) 
+  if (s == NULL) 
     return false; // No structure means no animation!
   else
-    return (s->numSteps != 0);
+    return (s->stepNumber < s->numSteps);
 }
 
 void PCA9685::_loop(unsigned long currentMicros) {
-  if (currentMicros - _lastRefreshTime >= refreshInterval * 1000) {
-    for (int pin=0; pin<_nPins; pin++) {
-      updatePosition(pin);
-    }
-    _lastRefreshTime = currentMicros;
+  for (int pin=0; pin<_nPins; pin++) {
+    updatePosition(pin);
   }
+  delayUntil(currentMicros + refreshInterval * 1000UL);
 }
 
 // Private function to reposition servo
 // TODO: Could calculate step number from elapsed time, to allow for erratic loop timing.
 void PCA9685::updatePosition(uint8_t pin) {
   struct ServoData *s = _servoData[pin];
-  if (!s) return;
+  
+  if (s == NULL) return; // No pin configuration/state data
+
   if (s->numSteps == 0) return; // No animation in progress
+
   if (s->stepNumber == 0 && s->fromPosition == s->toPosition) {
-    // No movement required, so go straight to final step
-    s->stepNumber = s->numSteps;
+    // Go straight to end of sequence, output final position.
+    s->stepNumber = s->numSteps-1;
   }
+
   if (s->stepNumber < s->numSteps) {
     // Animation in progress, reposition servo
     s->stepNumber++;
-    if (s->profile == Bounce) {
+    if ((s->currentProfile & ~NoPowerOff) == Bounce) {
       // Retrieve step positions from array in flash
       byte profileValue = GETFLASH(&_bounceProfile[s->stepNumber]);
       s->currentPosition = map(profileValue, 0, 100, s->fromPosition, s->toPosition);
@@ -217,10 +222,12 @@ void PCA9685::updatePosition(uint8_t pin) {
     // We've finished animation, wait a little to allow servo to catch up
     s->stepNumber++;
   } else if (s->stepNumber == s->numSteps + _catchupSteps 
-            && s->currentPosition != 4095 && s->currentPosition != 0) {
+            && s->currentPosition != 0) {
 #ifdef IO_SWITCH_OFF_SERVO
-    // Wait has finished, so switch off PWM to prevent annoying servo buzz
-    writeDevice(pin, 0);
+    if ((s->currentProfile & NoPowerOff) == 0) {
+      // Wait has finished, so switch off PWM to prevent annoying servo buzz
+      writeDevice(pin, 0);
+    }
 #endif
     s->numSteps = 0;  // Done now.
   }
@@ -233,20 +240,25 @@ void PCA9685::writeDevice(uint8_t pin, int value) {
   DIAG(F("PCA9685 I2C:x%x WriteDevice Pin:%d Value:%d"), _I2CAddress, pin, value);
   #endif
   // Wait for previous request to complete
-  requestBlock.wait();
-  // Set up new request.
-  outputBuffer[0] = PCA9685_FIRST_SERVO + 4 * pin;
-  outputBuffer[1] = 0;
-  outputBuffer[2] = (value == 4095 ? 0x10 : 0);  // 4095=full on
-  outputBuffer[3] = value & 0xff;
-  outputBuffer[4] = value >> 8;
-  I2CManager.queueRequest(&requestBlock);
+  uint8_t status = requestBlock.wait();
+  if (status != I2C_STATUS_OK) {
+    _deviceState = DEVSTATE_FAILED;
+    DIAG(F("PCA9685 I2C:x%x failed %S"), _I2CAddress, I2CManager.getErrorMessage(status));
+  } else {
+    // Set up new request.
+    outputBuffer[0] = PCA9685_FIRST_SERVO + 4 * pin;
+    outputBuffer[1] = 0;
+    outputBuffer[2] = (value == 4095 ? 0x10 : 0);  // 4095=full on
+    outputBuffer[3] = value & 0xff;
+    outputBuffer[4] = value >> 8;
+    I2CManager.queueRequest(&requestBlock);
+  }
 }
 
 // Display details of this device.
 void PCA9685::_display() {
-  DIAG(F("PCA9685 I2C:x%x Vpins:%d-%d"), _I2CAddress, (int)_firstVpin, 
-    (int)_firstVpin+_nPins-1);
+  DIAG(F("PCA9685 I2C:x%x Configured on Vpins:%d-%d %S"), _I2CAddress, (int)_firstVpin, 
+    (int)_firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
 }
 
 // Internal helper function for this device

IO_PCF8574.h

@@ -17,6 +17,24 @@
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
 
+/* 
+ * The PCF8574 is a simple device; it only has one register.  The device 
+ * input/output mode and pullup are configured through this, and the 
+ * output state is written and the input state read through it too.
+ * 
+ * This is accomplished by having a weak resistor in series with the output,
+ * and a read-back of the other end of the resistor.  As an output, the 
+ * pin state is set to 1 or 0, and the output voltage goes to +5V or 0V
+ * (through the weak resistor).
+ * 
+ * In order to use the pin as an input, the output is written as
+ * a '1' in order to pull up the resistor.  Therefore the input will be
+ * 1 unless the pin is pulled down externally, in which case it will be 0.
+ * 
+ * As a consequence of this approach, it is not possible to use the device for
+ * inputs without pullups.
+ */
+
 #ifndef IO_PCF8574_H
 #define IO_PCF8574_H
 
@@ -57,7 +75,7 @@ private:
     if (immediate) {
       uint8_t buffer[1];
       I2CManager.read(_I2CAddress, buffer, 1);
-      _portInputState = ((uint16_t)buffer) & 0xff;
+      _portInputState = buffer[0];
     } else {
       requestBlock.wait(); // Wait for preceding operation to complete
       // Issue new request to read GPIO register
@@ -68,9 +86,9 @@ private:
   // This function is invoked when an I/O operation on the requestBlock completes.
   void _processCompletion(uint8_t status) override {
     if (status == I2C_STATUS_OK) 
-      _portInputState = ((uint16_t)inputBuffer[0]) & 0xff;
+      _portInputState = inputBuffer[0];
     else  
-      _portInputState = 0xff;
+      _portInputState = 0xff; 
   }
 
   // Set up device ports

IO_VL53L0X.h

@@ -0,0 +1,299 @@
+/*
+ *  © 2021, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC++EX API
+ *
+ *  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/>.
+ */
+
+/*
+ * The VL53L0X Time-Of-Flight sensor operates by sending a short laser pulse and detecting
+ * the reflection of the pulse.  The time between the pulse and the receipt of reflections
+ * is measured and used to determine the distance to the reflecting object.
+ * 
+ * For economy of memory and processing time, this driver includes only part of the code 
+ * that ST provide in their API.  Also, the API code isn't very clear and it is not easy
+ * to identify what operations are useful and what are not. 
+ * The operation shown here doesn't include any calibration, so is probably not as accurate
+ * as using the full driver, but it's probably accurate enough for the purpose.
+ * 
+ * The device driver allocates up to 3 vpins to the device.  A digital read on the first pin
+ * will return a value that indicates whether the object is within the threshold range (1)
+ * or not (0).  An analogue read on the first pin returns the last measured distance (in mm), 
+ * the second pin returns the signal strength, and the third pin returns detected 
+ * ambient light level.  By default the device takes around 60ms to complete a ranging 
+ * operation, so we do a 100ms cycle (10 samples per second).
+ * 
+ * The VL53L0X is initially set to respond to I2C address 0x29.  If you only have one module,
+ * you can use this address.  However, the address can be modified by software.  If
+ * you select another address, that address will be written to the device and used until the device is reset.
+ * 
+ * If you have more than one module, then you will need to specify a digital VPIN (Arduino
+ * digital output or I/O extender pin) which you connect to the module's XSHUT pin.  Now,
+ * when the device driver starts, the XSHUT pin is set LOW to turn the module off.  Once 
+ * all VL53L0X modules are turned off, the driver works through each module in turn by
+ * setting XSHUT to HIGH to turn the module on,, then writing the module's desired I2C address.
+ * In this way, many VL53L0X modules can be connected to the one I2C bus, each one 
+ * using a distinct I2C address.
+ * 
+ * WARNING:  If the device's XSHUT pin is not connected, then it is very prone to noise, 
+ * and the device may even reset when handled.  If you're not using XSHUT, then it's 
+ * best to tie it to +5V.
+ * 
+ * The driver is configured as follows:
+ * 
+ * Single VL53L0X module:
+ *      VL53L0X::create(firstVpin, nPins, i2cAddress, lowThreshold, highThreshold);
+ * Where firstVpin is the first vpin reserved for reading the device,
+ *       nPins is 1, 2 or 3,
+ *       i2cAddress is the address of the device (normally 0x29),
+ *       lowThreshold is the distance at which the digital vpin state is set to 1 (in mm),
+ *   and highThreshold is the distance at which the digital vpin state is set to 0 (in mm).
+ * 
+ * Multiple VL53L0X modules:
+ *       VL53L0X::create(firstVpin, nPins, i2cAddress, lowThreshold, highThreshold, xshutPin);
+ *       ...
+ * Where firstVpin is the first vpin reserved for reading the device,
+ *       nPins is 1, 2 or 3,
+ *       i2cAddress is the address of the device (any valid address except 0x29),
+ *       lowThreshold is the distance at which the digital vpin state is set to 1 (in mm),
+ *       highThreshold is the distance at which the digital vpin state is set to 0 (in mm),
+ *   and xshutPin is the VPIN number corresponding to a digital output that is connected to the
+ *       XSHUT terminal on the module.
+ * 
+ * Example:
+ *   In mySetup function within mySetup.cpp:
+ *      VL53L0X::create(4000, 3, 0x29, 200, 250);
+ *      Sensor::create(4000, 4000, 0);  // Create a sensor
+ * 
+ *   When an object comes within 200mm of the sensor, a message 
+ *      <Q 4000>
+ *   will be sent over the serial USB, and when the object moves more than 250mm from the sensor, 
+ *   a message
+ *      <q 4000>
+ *   will be sent. 
+ * 
+ */
+
+#ifndef IO_VL53L0X_h
+#define IO_VL53L0X_h
+
+#include "IODevice.h"
+
+class VL53L0X : public IODevice {
+private: 
+  uint8_t _i2cAddress;
+  uint16_t _ambient;
+  uint16_t _distance;
+  uint16_t _signal;
+  uint16_t _onThreshold;
+  uint16_t _offThreshold;
+  VPIN _xshutPin;
+  bool _value;
+  uint8_t _nextState = 0;
+  I2CRB _rb;
+  uint8_t _inBuffer[12];
+  uint8_t _outBuffer[2];
+  // State machine states.
+  enum : uint8_t {
+    STATE_INIT = 0,
+    STATE_CONFIGUREADDRESS = 1,
+    STATE_SKIP = 2,
+    STATE_CONFIGUREDEVICE = 3,
+    STATE_INITIATESCAN = 4,
+    STATE_CHECKSTATUS = 5,
+    STATE_GETRESULTS = 6,
+    STATE_DECODERESULTS = 7,
+  };
+
+  // Register addresses
+  enum : uint8_t {
+    VL53L0X_REG_SYSRANGE_START=0x00,
+    VL53L0X_REG_RESULT_INTERRUPT_STATUS=0x13,
+    VL53L0X_REG_RESULT_RANGE_STATUS=0x14,
+    VL53L0X_CONFIG_PAD_SCL_SDA__EXTSUP_HV=0x89,
+    VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS=0x8A,
+  };
+  const uint8_t VL53L0X_I2C_DEFAULT_ADDRESS=0x29;
+
+public:
+  VL53L0X(VPIN firstVpin, int nPins, uint8_t i2cAddress, uint16_t onThreshold, uint16_t offThreshold, VPIN xshutPin = VPIN_NONE) {
+    _firstVpin = firstVpin;
+    _nPins = min(nPins, 3);
+    _i2cAddress = i2cAddress;
+    _onThreshold = onThreshold;
+    _offThreshold = offThreshold;
+    _xshutPin = xshutPin;
+    _value = 0;
+    addDevice(this);
+  }
+  static void create(VPIN firstVpin, int nPins, uint8_t i2cAddress, uint16_t onThreshold, uint16_t offThreshold, VPIN xshutPin = VPIN_NONE) {
+    new VL53L0X(firstVpin, nPins, i2cAddress, onThreshold, offThreshold, xshutPin);
+  }
+
+protected:
+  void _begin() override {
+    if (_xshutPin == VPIN_NONE) {
+      // Check if device is already responding on the nominated address.
+      if (I2CManager.exists(_i2cAddress)) {
+        // Yes, it's already on this address, so skip the address initialisation.
+        _nextState = STATE_CONFIGUREDEVICE;
+      } else {
+        _nextState = STATE_INIT;
+      }
+    }
+  }
+
+  void _loop(unsigned long currentMicros) override {
+    uint8_t status;
+    switch (_nextState) {
+      case STATE_INIT:
+        // On first entry to loop, reset this module by pulling XSHUT low.  All modules
+        // will be reset in turn.
+        if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 0);
+        _nextState = STATE_CONFIGUREADDRESS;
+        break;
+      case STATE_CONFIGUREADDRESS:
+        // On second entry, set XSHUT pin high to allow the module to restart.
+        // On the module, there is a diode in series with the XSHUT pin to 
+        // protect the low-voltage pin against +5V.
+        if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 1);
+        // Allow the module time to restart
+        delay(10);
+        // Then write the desired I2C address to the device, while this is the only
+        //  module responding to the default address.
+        I2CManager.write(VL53L0X_I2C_DEFAULT_ADDRESS, 2, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, _i2cAddress);
+        _nextState = STATE_SKIP;
+        break;
+      case STATE_SKIP:
+        // Do nothing on the third entry.
+        _nextState = STATE_CONFIGUREDEVICE;
+        break;
+      case STATE_CONFIGUREDEVICE:
+        // On next entry, check if device address has been set.
+        if (I2CManager.exists(_i2cAddress)) {
+          #ifdef DIAG_IO
+          _display();
+          #endif
+          // Set 2.8V mode
+          write_reg(VL53L0X_CONFIG_PAD_SCL_SDA__EXTSUP_HV, 
+            read_reg(VL53L0X_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01);
+        } else {
+          DIAG(F("VL53L0X I2C:x%x device not responding"), _i2cAddress);
+          _deviceState = DEVSTATE_FAILED;
+        }
+        _nextState = STATE_INITIATESCAN;
+        break;
+      case STATE_INITIATESCAN:
+        // Not scanning, so initiate a scan
+        _outBuffer[0] = VL53L0X_REG_SYSRANGE_START;
+        _outBuffer[1] = 0x01;
+        I2CManager.write(_i2cAddress, _outBuffer, 2, &_rb);
+        _nextState = STATE_CHECKSTATUS;
+        break;
+      case STATE_CHECKSTATUS:
+        status = _rb.status;
+        if (status == I2C_STATUS_PENDING) return; // try next time
+        if (status != I2C_STATUS_OK) {
+          DIAG(F("VL53L0X I2C:x%x Error:%d %S"), _i2cAddress, status, I2CManager.getErrorMessage(status));
+          _deviceState = DEVSTATE_FAILED;
+          _value = false;
+        } else
+          _nextState = 2;
+        delayUntil(currentMicros + 95000); // wait for 95 ms before checking.
+        _nextState = STATE_GETRESULTS;
+        break;
+      case STATE_GETRESULTS:
+        // Ranging completed.  Request results
+        _outBuffer[0] = VL53L0X_REG_RESULT_RANGE_STATUS;
+        I2CManager.read(_i2cAddress, _inBuffer, 12, _outBuffer, 1, &_rb);
+        _nextState = 3;
+        delayUntil(currentMicros + 5000); // Allow 5ms to get data
+        _nextState = STATE_DECODERESULTS;
+        break;
+      case STATE_DECODERESULTS:
+        // If I2C write still busy, return.
+        status = _rb.status;
+        if (status == I2C_STATUS_PENDING) return; // try again next time
+        if (status == I2C_STATUS_OK) {
+          if (!(_inBuffer[0] & 1)) return; // device still busy
+          uint8_t deviceRangeStatus = ((_inBuffer[0] & 0x78) >> 3);
+          if (deviceRangeStatus == 0x0b) {
+            // Range status OK, so use data
+            _ambient = makeuint16(_inBuffer[7], _inBuffer[6]);
+            _signal = makeuint16(_inBuffer[9], _inBuffer[8]);
+            _distance = makeuint16(_inBuffer[11], _inBuffer[10]);
+            if (_distance <= _onThreshold) 
+              _value = true;
+            else if (_distance > _offThreshold) 
+              _value = false;
+          }
+        }
+        // Completed. Restart scan on next loop entry.
+        _nextState = STATE_INITIATESCAN;
+        break;
+      default:
+        break;
+    }
+  }
+
+  // For analogue read, first pin returns distance, second pin is signal strength, and third is ambient level.
+  int _readAnalogue(VPIN vpin) override {
+    int pin = vpin - _firstVpin;
+    switch (pin) {
+      case 0:
+        return _distance;
+      case 1:
+        return _signal;
+      case 2:
+        return _ambient;
+      default:
+        return -1;
+    }
+  }
+
+  // For digital read, return zero for all but first pin.
+  int _read(VPIN vpin) override {
+    if (vpin == _firstVpin)
+      return _value;
+    else
+      return 0;
+  }
+
+  void _display() override {
+    DIAG(F("VL53L0X I2C:x%x Configured on Vpins:%d-%d On:%dmm Off:%dmm %S"),
+      _i2cAddress, _firstVpin, _firstVpin+_nPins-1, _onThreshold, _offThreshold,
+      (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
+  }
+  
+
+private:
+  inline uint16_t makeuint16(byte lsb, byte msb) {
+    return (((uint16_t)msb) << 8) | lsb;
+  }
+  uint8_t write_reg(uint8_t reg, uint8_t data) {
+    // write byte to register
+    uint8_t outBuffer[2];
+    outBuffer[0] = reg;
+    outBuffer[1] = data;
+    return I2CManager.write(_i2cAddress, outBuffer, 2);
+  }
+  uint8_t read_reg(uint8_t reg) {
+    // read byte from register and return value
+    I2CManager.read(_i2cAddress, _inBuffer, 1, &reg, 1);
+    return _inBuffer[0];
+  }
+};
+
+#endif // IO_VL53L0X_h

LCDDisplay.h

@@ -19,15 +19,12 @@
 #ifndef LCDDisplay_h
 #define LCDDisplay_h
 #include <Arduino.h>
+#include "defines.h"
 #include "DisplayInterface.h"
 
-#if __has_include ( "config.h")
-  #include "config.h"
-#endif
-
 // Allow maximum message length to be overridden from config.h
 #if !defined(MAX_MSG_SIZE) 
-#define MAX_MSG_SIZE 16
+#define MAX_MSG_SIZE 20
 #endif
 
 // Set default scroll mode (overridable in config.h)

LCN.cpp

@@ -48,8 +48,7 @@ void LCN::loop() {
     }
     else if (ch == 't' || ch == 'T') { // Turnout opcodes
       if (Diag::LCN) DIAG(F("LCN IN %d%c"),id,(char)ch);
-      Turnout * tt = Turnout::get(id);
-      if (!tt) tt=Turnout::createLCN(id);
+      if (!Turnout::exists(id)) LCNTurnout::create(id);
       Turnout::setClosedStateOnly(id,ch=='t');
       Turnout::turnoutlistHash++; // signals ED update of turnout data
       id = 0;

LCN.h

@@ -1,5 +1,7 @@
 /*
- *  (c) 2021 Fred Decker.  All rights reserved.
+ *  © 2021 Harald Barth
+ *  © 2021 Fred Decker
+ *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
  *

LiquidCrystal_I2C.cpp

@@ -196,7 +196,7 @@ void LiquidCrystal_I2C::send(uint8_t value, uint8_t mode) {
   outputBuffer[len++] = highnib;
   outputBuffer[len++] = lownib|En;
   outputBuffer[len++] = lownib;
-  I2CManager.write(_Addr, outputBuffer, len, &requestBlock);
+  I2CManager.write(_Addr, outputBuffer, len);  // Write command synchronously
 }
 
 // write 4 data bits to the HD44780 LCD controller.
@@ -205,19 +205,15 @@ void LiquidCrystal_I2C::write4bits(uint8_t value) {
   // Enable must be set/reset for at least 450ns.  This is well within the
   // I2C clock cycle time of 2.5us at 400kHz. Data is clocked in to the
   // HD44780 on the trailing edge of the Enable pin.
-  // Wait for previous request to complete before writing to outputbuffer.
-  requestBlock.wait();
   uint8_t len = 0;
   outputBuffer[len++] = _data|En;
   outputBuffer[len++] = _data;
-  I2CManager.write(_Addr, outputBuffer, len, &requestBlock);
+  I2CManager.write(_Addr, outputBuffer, len);  // Write command synchronously
 }
 
 // write a byte to the PCF8574 I2C interface.  We don't need to set
 // the enable pin for this.
 void LiquidCrystal_I2C::expanderWrite(uint8_t value) {
-  // Wait for previous request to complete before writing to outputbuffer.
-  requestBlock.wait();
   outputBuffer[0] = value | _backlightval;
-  I2CManager.write(_Addr, outputBuffer, 1, &requestBlock);
+  I2CManager.write(_Addr, outputBuffer, 1);  // Write command synchronously
 }

LiquidCrystal_I2C.h

@@ -75,10 +75,8 @@ public:
   void backlight();
   
   void command(uint8_t);
-  void init();
 
 private:
-  void init_priv();
   void send(uint8_t, uint8_t);
   void write4bits(uint8_t);
   void expanderWrite(uint8_t);
@@ -88,9 +86,9 @@ private:
   uint8_t _displaymode;
   uint8_t _backlightval;
 
-  I2CRB requestBlock;
   uint8_t outputBuffer[4];
-  bool isBusy() { return requestBlock.isBusy(); }
+  // I/O is synchronous, so if this is called we're not busy!
+  bool isBusy() override { return false; } 
 };
 
 #endif

MotorDriver.cpp

@@ -1,7 +1,11 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2020-2022 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
- *  This file is part of Asbelos DCC API
+ *  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
@@ -76,7 +80,7 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
   if (currentPin==UNUSED_PIN) 
     DIAG(F("MotorDriver ** WARNING ** No current or short detection"));  
   else  
-    DIAG(F("MotorDriver currentPin=A%d, senseOffset=%d, rawCurentTripValue(relative to offset)=%d"),
+    DIAG(F("MotorDriver currentPin=A%d, senseOffset=%d, rawCurrentTripValue(relative to offset)=%d"),
     currentPin-A0, senseOffset,rawCurrentTripValue);
 }
 

MotorDriver.h

@@ -1,5 +1,8 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2020 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *

MotorDrivers.h

@@ -1,4 +1,6 @@
 /*
+ *  © 2021 Fred Decker
+ *  © 2020-2022 Harald Barth
  *  (c) 2020 Chris Harlow. All rights reserved.
  *  (c) 2021 Fred Decker.  All rights reserved.
  *  (c) 2020 Harald Barth. All rights reserved.
@@ -82,5 +84,20 @@
 #define IBT_2_WITH_ARDUINO F("IBT_2_WITH_ARDUINO_SHIELD"),                                              \
                          new MotorDriver(4, 5, 6, UNUSED_PIN, A5, 41.54, 5000, UNUSED_PIN), \
                          new MotorDriver(11, 13, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 2000, UNUSED_PIN)
+// YFROBOT Motor Shield (V3.1)
+#define YFROBOT_MOTOR_SHIELD F("YFROBOT_MOTOR_SHIELD"), \
+    new MotorDriver(5, 4, UNUSED_PIN, UNUSED_PIN, A0, 2.99, 2000, UNUSED_PIN), \
+    new MotorDriver(6, 7, UNUSED_PIN, UNUSED_PIN, A1, 2.99, 2000, UNUSED_PIN)
+
+// Makeblock ORION UNO like sized board with integrated motor driver
+// This is like an Uno with H-bridge and RJ12 contacts instead of pin rows.
+// No current sense. Barrel connector max 12V, Vmotor max 15V. 1.1A polyfuse as output protection.
+// Main is marked M1 and near RJ12 #5
+// Prog is marked M2 and near RJ12 #4
+// For details see
+// http://docs.makeblock.com/diy-platform/en/electronic-modules/main-control-boards/makeblock-orion.html
+#define ORION_UNO_INTEGRATED_SHIELD F("ORION_UNO_INTEGRATED_SHIELD"),		      \
+    new MotorDriver(6, 7, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 1.0, 1100, UNUSED_PIN), \
+    new MotorDriver(5, 4, UNUSED_PIN, UNUSED_PIN, UNUSED_PIN, 1.0, 1100, UNUSED_PIN)
 
 #endif

Outputs.cpp

@@ -1,5 +1,9 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Harald Barth
+ *  © 2020-2021 Fred Decker
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *
@@ -82,7 +86,9 @@ the state of any outputs being monitored or controlled by a separate interface o
 **********************************************************************/
 
 #include "Outputs.h"
+#ifndef DISABLE_EEPROM
 #include "EEStore.h"
+#endif
 #include "StringFormatter.h"
 #include "IODevice.h"
 
@@ -102,10 +108,11 @@ void  Output::activate(uint16_t s){
   data.active = s;                     // if s>0, set status to active, else inactive
   // set state of output pin to HIGH or LOW depending on whether bit zero of iFlag is set to 0 (ACTIVE=HIGH) or 1 (ACTIVE=LOW)
   IODevice::write(data.pin, s ^ data.invert);  
-
+#ifndef DISABLE_EEPROM
   // Update EEPROM if output has been stored.    
   if(EEStore::eeStore->data.nOutputs > 0 && num > 0)
     EEPROM.put(num, data.oStatus);
+#endif
 }
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -141,7 +148,7 @@ bool Output::remove(uint16_t n){
 
 ///////////////////////////////////////////////////////////////////////////////
 // Static function to load configuration and state of all Outputs from EEPROM
-
+#ifndef DISABLE_EEPROM
 void Output::load(){
   struct OutputData data;
   Output *tt;
@@ -176,6 +183,7 @@ void Output::store(){
   }
 
 }
+#endif
 
 ///////////////////////////////////////////////////////////////////////////////
 // Static function to create an Output object

Outputs.h

@@ -1,5 +1,8 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Harald Barth
+ *  © 2021 Fred Decker
+ *  © 2020 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *
@@ -48,8 +51,10 @@ public:
   bool isActive();
   static Output* get(uint16_t);
   static bool remove(uint16_t);
+#ifndef DISABLE_EEPROM
   static void load();
   static void store();
+#endif
   static Output *create(uint16_t, VPIN, int, int=0);
   static Output *firstOutput;
   struct OutputData data;

README.md

@@ -17,7 +17,7 @@ Both CommandStation-EX and BaseStation-Classic support much of the NMRA Digital
 * Control of all cab functions F0-F28 and F29-F68
 * Main Track: Write configuration variable bytes and set/clear specific configuration variable (CV) bits (aka Programming on Main or POM)
 * Programming Track: Same as the main track with the addition of reading configuration variable bytes
-* And manu more custom features. see [What's new in CommandStation-EX?](#whats-new-in-commandstation-ex)
+* And many more custom features. see [What's new in CommandStation-EX?](#whats-new-in-commandstation-ex)
 
 
 # What’s in this Repository?

RMFT2.h

@@ -1,5 +1,7 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2020-2022 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
  *
@@ -22,7 +24,7 @@
 #include "IODevice.h"
    
 // The following are the operation codes (or instructions) for a kind of virtual machine.
-// Each instruction is normally 2 bytes long with an operation code followed by a parameter.
+// Each instruction is normally 3 bytes long with an operation code followed by a parameter.
 // In cases where more than one parameter is required, the first parameter is followed by one  
 // or more OPCODE_PAD instructions with the subsequent parameters. This wastes a byte but makes 
 // searching easier as a parameter can never be confused with an opcode. 
@@ -30,34 +32,52 @@
 enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_FWD,OPCODE_REV,OPCODE_SPEED,OPCODE_INVERT_DIRECTION,
              OPCODE_RESERVE,OPCODE_FREE,
-             OPCODE_AT,OPCODE_AFTER,
+             OPCODE_AT,OPCODE_AFTER,OPCODE_AUTOSTART,
+             OPCODE_ATTIMEOUT1,OPCODE_ATTIMEOUT2,OPCODE_IFTIMEOUT,
              OPCODE_LATCH,OPCODE_UNLATCH,OPCODE_SET,OPCODE_RESET,
              OPCODE_IF,OPCODE_IFNOT,OPCODE_ENDIF,OPCODE_IFRANDOM,OPCODE_IFRESERVE,
-             OPCODE_DELAY,OPCODE_DELAYMINS,OPCODE_RANDWAIT,
-             OPCODE_FON,OPCODE_FOFF,
-             OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,
-             OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT,
+             OPCODE_IFCLOSED, OPCODE_IFTHROWN,OPCODE_ELSE,
+             OPCODE_DELAY,OPCODE_DELAYMINS,OPCODE_DELAYMS,OPCODE_RANDWAIT,
+             OPCODE_FON,OPCODE_FOFF,OPCODE_XFON,OPCODE_XFOFF,
+             OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,OPCODE_DRIVE,
+             OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT,OPCODE_WAITFOR,
              OPCODE_PAD,OPCODE_FOLLOW,OPCODE_CALL,OPCODE_RETURN,
              OPCODE_JOIN,OPCODE_UNJOIN,OPCODE_READ_LOCO1,OPCODE_READ_LOCO2,OPCODE_POM,
              OPCODE_START,OPCODE_SETLOCO,OPCODE_SENDLOCO,
-             OPCODE_PAUSE, OPCODE_RESUME,
+             OPCODE_PAUSE, OPCODE_RESUME,OPCODE_POWEROFF,
              OPCODE_ONCLOSE, OPCODE_ONTHROW, OPCODE_SERVOTURNOUT, OPCODE_PINTURNOUT,
-             OPCODE_PRINT,  
+             OPCODE_PRINT,OPCODE_DCCACTIVATE,
+             OPCODE_ONACTIVATE,OPCODE_ONDEACTIVATE,OPCODE_IFGTE,OPCODE_IFLT,
+             OPCODE_ROSTER,
              OPCODE_ROUTE,OPCODE_AUTOMATION,OPCODE_SEQUENCE,OPCODE_ENDTASK,OPCODE_ENDEXRAIL
              };
 
 
  
   // Flag bits for status of hardware and TPL
-  static const byte SECTION_FLAG = 0x01;
-  static const byte LATCH_FLAG = 0x02;
-  static const byte TASK_FLAG = 0x04;
+  static const byte SECTION_FLAG = 0x80;
+  static const byte LATCH_FLAG = 0x40;
+  static const byte TASK_FLAG = 0x20;
+  static const byte SPARE_FLAG = 0x10;
+  static const byte COUNTER_MASK= 0x0F;
 
   static const byte  MAX_STACK_DEPTH=4;
  
    static const short MAX_FLAGS=256;
   #define FLAGOVERFLOW(x) x>=MAX_FLAGS
 
+class LookList {
+  public: 
+    LookList(int16_t size);
+    void add(int16_t lookup, int16_t result);
+    int16_t find(int16_t value);
+  private:
+     int16_t m_size;
+     int16_t m_loaded;
+     int16_t * m_lookupArray;
+     int16_t * m_resultArray;     
+};
+
  class RMFT2 {
    public:
     static void begin();
@@ -65,18 +85,22 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
     RMFT2(int progCounter);
     RMFT2(int route, uint16_t cab);
     ~RMFT2();
-    static void readLocoCallback(int cv);
+    static void readLocoCallback(int16_t cv);
     static void emitWithrottleRouteList(Print* stream); 
     static void createNewTask(int route, uint16_t cab);
-    static void turnoutEvent(VPIN id, bool closed);  
+    static void turnoutEvent(int16_t id, bool closed);  
+    static void activateEvent(int16_t addr, bool active);
+    static void emitTurnoutDescription(Print* stream,int16_t id);
+    static const byte rosterNameCount;
+    static void emitWithrottleRoster(Print * stream);
+    static const FSH * getRosterFunctions(int16_t cabid);  
 private: 
-    static void ComandFilter(Print * stream, byte & opcode, byte & paramCount, int p[]);
-    static bool parseSlash(Print * stream, byte & paramCount, int p[]) ;
+    static void ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
+    static bool parseSlash(Print * stream, byte & paramCount, int16_t p[]) ;
     static void streamFlags(Print* stream);
     static void setFlag(VPIN id,byte onMask, byte OffMask=0);
-    static bool getFlag(VPIN id,byte mask);   
-    static int locateRouteStart(int16_t _route);
-    static int progtrackLocoId;
+    static bool getFlag(VPIN id,byte mask); 
+    static int16_t progtrackLocoId;
     static void doSignal(VPIN id,bool red, bool amber, bool green); 
     static void emitRouteDescription(Print * stream, char type, int id, const FSH * description);
     static void emitWithrottleDescriptions(Print * stream);
@@ -85,31 +109,43 @@ private:
     static RMFT2 * pausingTask;
     void delayMe(long millisecs);
     void driveLoco(byte speedo);
-    bool readSensor(int16_t sensorId);
+    bool readSensor(uint16_t sensorId);
     bool skipIfBlock();
     bool readLoco();
     void loop2();
     void kill(const FSH * reason=NULL,int operand=0);          
     void printMessage(uint16_t id);  // Built by RMFTMacros.h
     void printMessage2(const FSH * msg);
-
+    
     
    static bool diag;
    static const  FLASH  byte RouteCode[];
+   static const  FLASH  int16_t SignalDefinitions[];
    static byte flags[MAX_FLAGS];
- 
+   static LookList * sequenceLookup;
+   static LookList * onThrowLookup;
+   static LookList * onCloseLookup;
+   static LookList * onActivateLookup;
+   static LookList * onDeactivateLookup;
+
   // Local variables - exist for each instance/task 
     RMFT2 *next;   // loop chain 
     int progCounter;    // Byte offset of next route opcode in ROUTES table
     unsigned long delayStart; // Used by opcodes that must be recalled before completing
-    unsigned long waitAfter; // Used by OPCODE_AFTER
     unsigned long  delayTime;
+    union {
+      unsigned long waitAfter; // Used by OPCODE_AFTER
+      unsigned long timeoutStart; // Used by OPCODE_ATTIMEOUT
+    };
+    bool timeoutFlag;
     byte  taskId;
     
-    int loco;
+    uint16_t loco;
     bool forward;
     bool invert;
-    int speedo;
+    byte speedo;
+    int16_t onTurnoutId;
+    int16_t onActivateAddr;
     byte stackDepth;
     int callStack[MAX_STACK_DEPTH];
 };

RMFT2MacroReset.h

@@ -0,0 +1,202 @@
+/*
+ *  © 2021-2022 Chris Harlow
+ *  © 2020,2021 Chris Harlow. 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/>.
+ */
+
+// This file cleans and resets the RMFT2 Macros.
+// It is used between passes to reduce complexity in RMFT2Macros.h
+// DO NOT add an include guard to this file.
+
+// Undefine all RMFT macros
+#undef ACTIVATE
+#undef ACTIVATEL
+#undef AFTER
+#undef ALIAS
+#undef AMBER
+#undef AT
+#undef ATTIMEOUT
+#undef AUTOMATION 
+#undef AUTOSTART
+#undef CALL 
+#undef CLOSE 
+#undef DEACTIVATE
+#undef DEACTIVATEL
+#undef DELAY
+#undef DELAYMINS
+#undef DELAYRANDOM 
+#undef DONE
+#undef DRIVE
+#undef ELSE
+#undef ENDEXRAIL 
+#undef ENDIF  
+#undef ENDTASK
+#undef ESTOP 
+#undef EXRAIL  
+#undef FADE
+#undef FOFF
+#undef FOLLOW 
+#undef FON 
+#undef FREE 
+#undef FWD 
+#undef GREEN
+#undef IF 
+#undef IFCLOSED
+#undef IFGTE
+#undef IFLT
+#undef IFNOT
+#undef IFRANDOM 
+#undef IFRESERVE
+#undef IFTHROWN
+#undef IFTIMEOUT
+#undef INVERT_DIRECTION 
+#undef JOIN 
+#undef LATCH 
+#undef LCD 
+#undef LCN 
+#undef ONACTIVATE
+#undef ONACTIVATEL
+#undef ONDEACTIVATE
+#undef ONDEACTIVATEL 
+#undef ONCLOSE
+#undef ONTHROW 
+#undef PAUSE
+#undef PIN_TURNOUT 
+#undef PRINT
+#undef POM
+#undef POWEROFF
+#undef READ_LOCO 
+#undef RED 
+#undef RESERVE 
+#undef RESET 
+#undef RESUME 
+#undef RETURN 
+#undef REV
+#undef ROSTER 
+#undef ROUTE
+#undef SENDLOCO 
+#undef SEQUENCE 
+#undef SERIAL 
+#undef SERIAL1 
+#undef SERIAL2 
+#undef SERIAL3 
+#undef SERVO 
+#undef SERVO2 
+#undef SERVO_TURNOUT 
+#undef SET
+#undef SETLOCO 
+#undef SIGNAL 
+#undef SPEED 
+#undef START 
+#undef STOP 
+#undef THROW  
+#undef TURNOUT 
+#undef UNJOIN
+#undef UNLATCH 
+#undef WAITFOR
+#undef XFOFF
+#undef XFON
+
+#ifndef RMFT2_UNDEF_ONLY
+#define ACTIVATE(addr,subaddr)
+#define ACTIVATEL(addr)
+#define AFTER(sensor_id)
+#define ALIAS(name,value)
+#define AMBER(signal_id)
+#define AT(sensor_id)
+#define ATTIMEOUT(sensor_id,timeout_ms)
+#define AUTOMATION(id, description) 
+#define AUTOSTART
+#define CALL(route) 
+#define CLOSE(id) 
+#define DEACTIVATE(addr,subaddr)
+#define DEACTIVATEL(addr)
+#define DELAY(mindelay)
+#define DELAYMINS(mindelay)
+#define DELAYRANDOM(mindelay,maxdelay) 
+#define DONE
+#define DRIVE(analogpin)
+#define ELSE
+#define ENDEXRAIL 
+#define ENDIF  
+#define ENDTASK
+#define ESTOP 
+#define EXRAIL  
+#define FADE(pin,value,ms)
+#define FOFF(func)
+#define FOLLOW(route) 
+#define FON(func) 
+#define FREE(blockid) 
+#define FWD(speed) 
+#define GREEN(signal_id)
+#define IF(sensor_id) 
+#define IFCLOSED(turnout_id) 
+#define IFGTE(sensor_id,value) 
+#define IFLT(sensor_id,value) 
+#define IFNOT(sensor_id)
+#define IFRANDOM(percent)
+#define IFTHROWN(turnout_id) 
+#define IFRESERVE(block)
+#define IFTIMEOUT
+#define INVERT_DIRECTION 
+#define JOIN 
+#define LATCH(sensor_id) 
+#define LCD(row,msg) 
+#define LCN(msg) 
+#define ONACTIVATE(addr,subaddr)
+#define ONACTIVATEL(linear)
+#define ONDEACTIVATE(addr,subaddr)
+#define ONDEACTIVATEL(linear) 
+#define ONCLOSE(turnout_id)
+#define ONTHROW(turnout_id) 
+#define PAUSE
+#define PIN_TURNOUT(id,pin,description...) 
+#define PRINT(msg) 
+#define POM(cv,value)
+#define POWEROFF
+#define READ_LOCO 
+#define RED(signal_id) 
+#define RESERVE(blockid) 
+#define RESET(pin) 
+#define RESUME 
+#define RETURN 
+#define REV(speed) 
+#define ROUTE(id, description)
+#define ROSTER(cab,name,funcmap...)
+#define SENDLOCO(cab,route) 
+#define SEQUENCE(id) 
+#define SERIAL(msg) 
+#define SERIAL1(msg) 
+#define SERIAL2(msg) 
+#define SERIAL3(msg) 
+#define SERVO(id,position,profile) 
+#define SERVO2(id,position,duration) 
+#define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) 
+#define SET(pin) 
+#define SETLOCO(loco) 
+#define SIGNAL(redpin,amberpin,greenpin) 
+#define SPEED(speed) 
+#define START(route) 
+#define STOP 
+#define THROW(id)  
+#define TURNOUT(id,addr,subaddr,description...) 
+#define UNJOIN 
+#define UNLATCH(sensor_id) 
+#define WAITFOR(pin)
+#define XFOFF(cab,func)
+#define XFON(cab,func)
+#endif

RMFTMacros.h

@@ -1,5 +1,7 @@
 /*
- *  © 2020,2021 Chris Harlow. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2020-2022 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
  *
@@ -16,15 +18,17 @@
  *  You should have received a copy of the GNU General Public License
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 #ifndef RMFTMacros_H
 #define RMFTMacros_H
 
-// remove normal code LCD macro (will be restored later)
+// remove normal code LCD & SERIAL macros (will be restored later)
 #undef LCD
+#undef SERIAL
 
 
 // This file will include and build the EXRAIL script and associated helper tricks.
-// It does this by incliding myAutomation.h several times, each with a set of macros to 
+// It does this by including myAutomation.h several times, each with a set of macros to 
 // extract the relevant parts.
 
 // The entire automation script is contained within a byte array RMFT2::RouteCode[]
@@ -45,175 +49,143 @@
 
 // CAUTION: The macros below are multiple passed over myAutomation.h
 
-// Pass 1 Implements aliases and 
-// converts descriptions to  withrottle format emitter function
-// Most macros are simply ignored in this pass.
-
-
-#define ALIAS(name,value) const int name=value; 
-#define EXRAIL  void  RMFT2::emitWithrottleDescriptions(Print * stream) {
-#define ROUTE(id, description) emitRouteDescription(stream,'R',id,F(description));
-#define AUTOMATION(id, description) emitRouteDescription(stream,'A',id,F(description));
-#define ENDEXRAIL  }
- 
-#define AFTER(sensor_id)
-#define AMBER(signal_id)
-#define AT(sensor_id)
-#define CALL(route) 
-#define CLOSE(id) 
-#define DELAY(mindelay)
-#define DELAYMINS(mindelay)
-#define DELAYRANDOM(mindelay,maxdelay) 
-#define DONE
-#define ENDIF  
-#define ENDTASK
-#define ESTOP 
-#define FOFF(func)
-#define FOLLOW(route) 
-#define FON(func) 
-#define FREE(blockid) 
-#define FWD(speed) 
-#define GREEN(signal_id)
-#define IF(sensor_id) 
-#define IFNOT(sensor_id)
-#define IFRANDOM(percent) 
-#define IFRESERVE(block) 
-#define INVERT_DIRECTION 
-#define JOIN 
-#define LATCH(sensor_id) 
-#define LCD(row,msg) 
-#define ONCLOSE(turnout_id)
-#define ONTHROW(turnout_id) 
-#define PAUSE
-#define PRINT(msg) 
-#define POM(cv,value)
-#define READ_LOCO 
-#define RED(signal_id) 
-#define RESERVE(blockid) 
-#define RESET(sensor_id) 
-#define RESUME 
-#define RETURN 
-#define REV(speed) 
-#define START(route) 
-#define SENDLOCO(cab,route) 
-#define SERVO(id,position,profile) 
-#define SETLOCO(loco) 
-#define SET(sensor_id) 
-#define SEQUENCE(id) 
-#define SPEED(speed) 
-#define STOP 
-#undef SIGNAL
-#define SIGNAL(redpin,amberpin,greenpin) 
-#define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile) 
-#define PIN_TURNOUT(id,pin) 
-#define THROW(id)  
-#define TURNOUT(id,addr,subaddr) 
-#define UNJOIN 
-#define UNLATCH(sensor_id) 
-
-#include "myAutomation.h"
-
-// setup for pass 2... Create getMessageText function
+// Pass 1 Implements aliases 
+#include "RMFT2MacroReset.h"
 #undef ALIAS
-#undef ROUTE
-#undef AUTOMATION  
-#define ROUTE(id, description)
-#define AUTOMATION(id, description)  
-
-#undef EXRAIL 
-#undef PRINT
-#undef ENDEXRAIL  
-#undef LCD
-const int StringMacroTracker1=__COUNTER__;
-#define ALIAS(name,value) 
-#define EXRAIL void  RMFT2::printMessage(uint16_t id) { switch(id) {
-#define ENDEXRAIL  default: DIAG(F("printMessage error %d %d"),id,StringMacroTracker1); return ; }}
-#define PRINT(msg)  case (__COUNTER__ - StringMacroTracker1) : printMessage2(F(msg));break;
-#define LCD(id,msg)  case (__COUNTER__ - StringMacroTracker1) : StringFormatter::lcd(id,F(msg));break;
+#define ALIAS(name,value) const int name=value; 
 #include "myAutomation.h"
 
-// Setup for Pass 3: create main routes table 
-#undef AFTER
-#undef AMBER
-#undef AT
-#undef AUTOMATION 
-#undef CALL
-#undef CLOSE
-#undef DELAY
-#undef DELAYMINS
-#undef DELAYRANDOM
-#undef DONE
-#undef ENDIF
-#undef ENDEXRAIL
-#undef ENDTASK
-#undef ESTOP
-#undef EXRAIL
-#undef FOFF
-#undef FOLLOW
-#undef FON
-#undef FREE
-#undef FWD
-#undef GREEN
-#undef IF
-#undef IFNOT
-#undef IFRANDOM
-#undef IFRESERVE
-#undef INVERT_DIRECTION
-#undef JOIN
-#undef LATCH
-#undef LCD
-#undef ONCLOSE
-#undef ONTHROW
-#undef PAUSE
-#undef POM
+// Pass 2 convert descriptions to  withrottle format emitter function
+#include "RMFT2MacroReset.h"
+#undef ROUTE
+#define ROUTE(id, description) emitRouteDescription(stream,'R',id,F(description));
+#undef AUTOMATION
+#define AUTOMATION(id, description) emitRouteDescription(stream,'A',id,F(description));
+void  RMFT2::emitWithrottleDescriptions(Print * stream) {
+   (void)stream;
+    #include "myAutomation.h"
+}
+
+// Pass 3... Create Text sending functions
+#include "RMFT2MacroReset.h"
+const int StringMacroTracker1=__COUNTER__;
 #undef PRINT
-#undef READ_LOCO
-#undef RED
-#undef RESERVE
-#undef RESET
-#undef RESUME
-#undef RETURN
-#undef REV
-#undef ROUTE 
-#undef START
-#undef SEQUENCE 
-#undef SERVO
-#undef SENDLOCO
-#undef SETLOCO
-#undef SET
-#undef SPEED
-#undef STOP
-#undef SIGNAL
-#undef SERVO_TURNOUT
-#undef PIN_TURNOUT
-#undef THROW
+#define PRINT(msg)    case (__COUNTER__ - StringMacroTracker1) : printMessage2(F(msg));break;
+#undef LCN
+#define LCN(msg)      case (__COUNTER__ - StringMacroTracker1) : StringFormatter::send(&LCN_SERIAL,F(msg));break;
+#undef SERIAL
+#define SERIAL(msg)   case (__COUNTER__ - StringMacroTracker1) : StringFormatter::send(&Serial,F(msg));break;
+#undef SERIAL1
+#define SERIAL1(msg)  case (__COUNTER__ - StringMacroTracker1) : StringFormatter::send(&Serial1,F(msg));break;
+#undef SERIAL2
+#define SERIAL2(msg)  case (__COUNTER__ - StringMacroTracker1) : StringFormatter::send(&Serial2,F(msg));break;
+#undef SERIAL3
+#define SERIAL3(msg)  case (__COUNTER__ - StringMacroTracker1) : StringFormatter::send(&Serial3,F(msg));break;
+#undef LCD
+#define LCD(id,msg)   case (__COUNTER__ - StringMacroTracker1) : StringFormatter::lcd(id,F(msg));break;
+
+void  RMFT2::printMessage(uint16_t id) { 
+  switch(id) {
+    #include "myAutomation.h"
+    default: break ; 
+  }
+}
+
+
+// Pass 4: Turnout descriptions (optional)
+#include "RMFT2MacroReset.h"
 #undef TURNOUT
-#undef UNJOIN
-#undef UNLATCH
+#define TURNOUT(id,addr,subaddr,description...) case id: desc=F("" description); break;
+#undef PIN_TURNOUT
+#define PIN_TURNOUT(id,pin,description...) case id: desc=F("" description); break;
+#undef SERVO_TURNOUT
+#define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) case id: desc=F("" description); break;
 
+void RMFT2::emitTurnoutDescription(Print* stream,int16_t turnoutid) {
+     const FSH * desc=F("");
+     switch (turnoutid) {
+        #include "myAutomation.h"
+     default: break;
+     }
+     if (GETFLASH(desc)=='\0') desc=F("%d");
+     StringFormatter::send(stream,desc,turnoutid);    
+}
+
+// Pass 5: Roster names (count)
+#include "RMFT2MacroReset.h"
+#undef ROSTER
+#define ROSTER(cabid,name,funcmap...) +1
+
+const byte RMFT2::rosterNameCount=0
+        #include "myAutomation.h"
+     ;
+
+// Pass 6: Roster names emitter
+#include "RMFT2MacroReset.h"
+#undef ROSTER
+#define ROSTER(cabid,name,funcmap...) StringFormatter::send(stream,(FSH *)format,F(name),cabid,cabid<128?'S':'L');
+void RMFT2::emitWithrottleRoster(Print * stream) {
+        static const char format[] FLASH ="]\\[%S}|{%d}|{%c";
+        (void)format;
+        StringFormatter::send(stream,F("RL%d"), rosterNameCount);
+        #include "myAutomation.h"
+        stream->write('\n');        
+}
+
+// Pass 7: functions getter
+#include "RMFT2MacroReset.h"
+#undef ROSTER
+#define ROSTER(cabid,name,funcmap...) case cabid: return F("" funcmap);
+const FSH *  RMFT2::getRosterFunctions(int16_t cabid) {
+   switch(cabid) {
+      #include "myAutomation.h"
+      default: return NULL;
+   }        
+}
+
+// Pass 8 Signal definitions
+#include "RMFT2MacroReset.h"
+#undef SIGNAL
+#define SIGNAL(redpin,amberpin,greenpin) redpin,amberpin,greenpin, 
+const  FLASH  int16_t RMFT2::SignalDefinitions[] = {
+    #include "myAutomation.h"
+    0,0,0 };
+
+// Last Pass : create main routes table
+// Only undef the macros, not dummy them.  
+#define  RMFT2_UNDEF_ONLY
+#include "RMFT2MacroReset.h"
+// Define internal helper macros.
+// Everything we generate here has to be compile-time evaluated to 
+// a constant.  
+#define V(val) (byte)(((int16_t)(val))&0x00FF),(byte)(((int16_t)(val)>>8)&0x00FF)
 // Define macros for route code creation 
-#define V(val) ((int16_t)(val))&0x00FF,((int16_t)(val)>>8)&0x00FF
-#define NOP 0,0
 
-#define ALIAS(name,value) 
-#define EXRAIL const  FLASH  byte RMFT2::RouteCode[] = {
-#define AUTOMATION(id, description)  OPCODE_AUTOMATION, V(id), 
-#define ROUTE(id, description)  OPCODE_ROUTE, V(id), 
-#define SEQUENCE(id)  OPCODE_SEQUENCE, V(id), 
-#define ENDTASK OPCODE_ENDTASK,NOP,
-#define DONE OPCODE_ENDTASK,NOP,
-#define ENDEXRAIL OPCODE_ENDTASK,NOP,OPCODE_ENDEXRAIL,NOP };
- 
+#define ACTIVATE(addr,subaddr) OPCODE_DCCACTIVATE,V(addr<<3 | subaddr<<1 | 1),
+#define ACTIVATEL(addr) OPCODE_DCCACTIVATE,V((addr+3)<<1 | 1),
 #define AFTER(sensor_id) OPCODE_AT,V(sensor_id),OPCODE_AFTER,V(sensor_id),
+#define ALIAS(name,value) 
 #define AMBER(signal_id) OPCODE_AMBER,V(signal_id),
 #define AT(sensor_id) OPCODE_AT,V(sensor_id),
+#define ATTIMEOUT(sensor_id,timeout) OPCODE_ATTIMEOUT1,0,0,OPCODE_ATTIMEOUT2,V(sensor_id),OPCODE_PAD,V(timeout/100L),
+#define AUTOMATION(id, description)  OPCODE_AUTOMATION, V(id), 
+#define AUTOSTART OPCODE_AUTOSTART,0,0,
 #define CALL(route) OPCODE_CALL,V(route),
 #define CLOSE(id)  OPCODE_CLOSE,V(id),
-#define DELAY(ms) OPCODE_DELAY,V(ms/100),
+#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)),
 #define DELAYMINS(mindelay) OPCODE_DELAYMINS,V(mindelay),
-#define DELAYRANDOM(mindelay,maxdelay) OPCODE_DELAY,V(mindelay/100),OPCODE_RANDWAIT,V((maxdelay-mindelay)/100),
-#define ENDIF  OPCODE_ENDIF,NOP,
+#define DELAYRANDOM(mindelay,maxdelay) DELAY(mindelay) OPCODE_RANDWAIT,V((maxdelay-mindelay)/100L),
+#define DONE OPCODE_ENDTASK,0,0,
+#define DRIVE(analogpin) OPCODE_DRIVE,V(analogpin),
+#define ELSE OPCODE_ELSE,0,0,
+#define ENDEXRAIL 
+#define ENDIF  OPCODE_ENDIF,0,0,
+#define ENDTASK OPCODE_ENDTASK,0,0,
 #define ESTOP OPCODE_SPEED,V(1), 
+#define EXRAIL 
+#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),
 #define FON(func) OPCODE_FON,V(func),
@@ -221,46 +193,71 @@ const int StringMacroTracker1=__COUNTER__;
 #define FWD(speed) OPCODE_FWD,V(speed),
 #define GREEN(signal_id) OPCODE_GREEN,V(signal_id),
 #define IF(sensor_id) OPCODE_IF,V(sensor_id),
+#define IFCLOSED(turnout_id) OPCODE_IFCLOSED,V(turnout_id),
+#define IFGTE(sensor_id,value) OPCODE_IFGTE,V(sensor_id),OPCODE_PAD,V(value),
+#define IFLT(sensor_id,value) OPCODE_IFLT,V(sensor_id),OPCODE_PAD,V(value),
 #define IFNOT(sensor_id) OPCODE_IFNOT,V(sensor_id),
 #define IFRANDOM(percent) OPCODE_IFRANDOM,V(percent),
 #define IFRESERVE(block) OPCODE_IFRESERVE,V(block),
-#define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,NOP,
-#define JOIN OPCODE_JOIN,NOP,
+#define IFTHROWN(turnout_id) OPCODE_IFTHROWN,V(turnout_id),
+#define IFTIMEOUT OPCODE_IFTIMEOUT,0,0,
+#define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,0,0,
+#define JOIN OPCODE_JOIN,0,0,
 #define LATCH(sensor_id) OPCODE_LATCH,V(sensor_id),
-#define LCD(id,msg) OPCODE_PRINT,V(__COUNTER__ - StringMacroTracker2),
+#define LCD(id,msg) PRINT(msg)
+#define LCN(msg) PRINT(msg)
+#define ONACTIVATE(addr,subaddr) OPCODE_ONACTIVATE,V(addr<<2|subaddr),
+#define ONACTIVATEL(linear) OPCODE_ONACTIVATE,V(linear+3),
 #define ONCLOSE(turnout_id) OPCODE_ONCLOSE,V(turnout_id),
+#define ONDEACTIVATE(addr,subaddr) OPCODE_ONDEACTIVATE,V(addr<<2|subaddr),
+#define ONDEACTIVATEL(linear) OPCODE_ONDEACTIVATE,V(linear+3),
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
-#define PAUSE OPCODE_PAUSE,NOP,
+#define PAUSE OPCODE_PAUSE,0,0,
+#define PIN_TURNOUT(id,pin,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin), 
 #define POM(cv,value) OPCODE_POM,V(cv),OPCODE_PAD,V(value),
+#define POWEROFF OPCODE_POWEROFF,0,0,
 #define PRINT(msg) OPCODE_PRINT,V(__COUNTER__ - StringMacroTracker2),
-#define READ_LOCO OPCODE_READ_LOCO1,NOP,OPCODE_READ_LOCO2,NOP,
+#define READ_LOCO OPCODE_READ_LOCO1,0,0,OPCODE_READ_LOCO2,0,0,
 #define RED(signal_id) OPCODE_RED,V(signal_id),
 #define RESERVE(blockid) OPCODE_RESERVE,V(blockid),
-#define RESET(sensor_id) OPCODE_RESET,V(sensor_id),
-#define RESUME OPCODE_RESUME,NOP,
-#define RETURN OPCODE_RETURN,NOP,
+#define RESET(pin) OPCODE_RESET,V(pin),
+#define RESUME OPCODE_RESUME,0,0,
+#define RETURN OPCODE_RETURN,0,0,
 #define REV(speed) OPCODE_REV,V(speed),
+#define ROSTER(cabid,name,funcmap...)
+#define ROUTE(id, description)  OPCODE_ROUTE, V(id), 
 #define SENDLOCO(cab,route) OPCODE_SENDLOCO,V(cab),OPCODE_PAD,V(route),
-#define START(route) OPCODE_START,V(route),
-#define SERVO(id,position,profile) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::ProfileType::profile),
+#define SEQUENCE(id)  OPCODE_SEQUENCE, V(id), 
+#define SERIAL(msg) PRINT(msg)
+#define SERIAL1(msg) PRINT(msg)
+#define SERIAL2(msg) PRINT(msg)
+#define SERIAL3(msg) PRINT(msg)
+#define SERVO(id,position,profile) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::profile),OPCODE_PAD,V(0),
+#define SERVO2(id,position,ms) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::Instant),OPCODE_PAD,V(ms/100L),
+#define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) OPCODE_SERVOTURNOUT,V(id),OPCODE_PAD,V(pin),OPCODE_PAD,V(activeAngle),OPCODE_PAD,V(inactiveAngle),OPCODE_PAD,V(PCA9685::ProfileType::profile),
+#define SET(pin) OPCODE_SET,V(pin),
 #define SETLOCO(loco) OPCODE_SETLOCO,V(loco),
-#define SET(sensor_id) OPCODE_SET,V(sensor_id),
+#define SIGNAL(redpin,amberpin,greenpin) 
 #define SPEED(speed) OPCODE_SPEED,V(speed),
+#define START(route) OPCODE_START,V(route),
 #define STOP OPCODE_SPEED,V(0), 
-#define SIGNAL(redpin,amberpin,greenpin) OPCODE_SIGNAL,V(redpin),OPCODE_PAD,V(amberpin),OPCODE_PAD,V(greenpin), 
-#define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile) OPCODE_SERVOTURNOUT,V(id),OPCODE_PAD,V(pin),OPCODE_PAD,V(activeAngle),OPCODE_PAD,V(inactiveAngle),OPCODE_PAD,V(PCA9685::ProfileType::profile),
-#define PIN_TURNOUT(id,pin) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin), 
 #define THROW(id)  OPCODE_THROW,V(id),
-#define TURNOUT(id,addr,subaddr) OPCODE_TURNOUT,V(id),OPCODE_PAD,V(addr),OPCODE_PAD,V(subaddr),
-#define UNJOIN OPCODE_UNJOIN,NOP,
+#define TURNOUT(id,addr,subaddr,description...) OPCODE_TURNOUT,V(id),OPCODE_PAD,V(addr),OPCODE_PAD,V(subaddr),
+#define UNJOIN OPCODE_UNJOIN,0,0,
 #define UNLATCH(sensor_id) OPCODE_UNLATCH,V(sensor_id),
+#define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
+#define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),
+#define XFON(cab,func) OPCODE_XFON,V(cab),OPCODE_PAD,V(func),
 
-// PASS2 Build RouteCode
+// Build RouteCode
 const int StringMacroTracker2=__COUNTER__;
-#include "myAutomation.h"
+const  FLASH  byte RMFT2::RouteCode[] = {
+    #include "myAutomation.h"
+    OPCODE_ENDTASK,0,0,OPCODE_ENDEXRAIL,0,0 };
 
-// Restore normal code LCD macro
+// Restore normal code LCD & SERIAL  macro
 #undef LCD
 #define LCD   StringFormatter::lcd
-
+#undef SERIAL
+#define SERIAL  0x0
 #endif

RingStream.cpp

@@ -1,5 +1,6 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of DCC-EX CommandStation-EX
  *
@@ -103,3 +104,12 @@ bool RingStream::commit() {
   _buffer[_mark]=lowByte(_count);
   return true; // commit worked
 }
+void RingStream::flush() {
+  _pos_write=0;
+  _pos_read=0;
+  _buffer[0]=0;
+}
+void RingStream::printBuffer(Print * stream) {
+  _buffer[_pos_write]='\0';
+  stream->print((char *)_buffer);
+}

RingStream.h

@@ -1,7 +1,8 @@
 #ifndef RingStream_h
 #define RingStream_h
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of DCC-EX CommandStation-EX
  *
@@ -34,7 +35,8 @@ class RingStream : public Print {
     void mark(uint8_t b);
     bool commit();
     uint8_t peekTargetMark();
-    
+    void printBuffer(Print * streamer);
+    void flush();
  private:
    int _len;
    int _pos_write;

SSD1306Ascii.cpp

@@ -89,31 +89,93 @@ const uint8_t FLASH SSD1306AsciiWire::blankPixels[30] =
   {0x40,        // First byte specifies data mode
   0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};  
 
+
+//==============================================================================
+// this section is based on https://github.com/adafruit/Adafruit_SSD1306
+
+/** Initialization commands for a 128x32 or 128x64 SSD1306 oled display. */
+const uint8_t FLASH SSD1306AsciiWire::Adafruit128xXXinit[] = {
+    // Init sequence for Adafruit 128x32/64 OLED module
+    0x00,                              // Set to command mode
+    SSD1306_DISPLAYOFF,
+    SSD1306_SETDISPLAYCLOCKDIV, 0x80,  // the suggested ratio 0x80 
+    SSD1306_SETMULTIPLEX, 0x3F,        // ratio 64 (initially)
+    SSD1306_SETDISPLAYOFFSET, 0x0,     // no offset
+    SSD1306_SETSTARTLINE | 0x0,        // line #0
+    SSD1306_CHARGEPUMP, 0x14,          // internal vcc
+    SSD1306_MEMORYMODE, 0x02,          // page mode
+    SSD1306_SEGREMAP | 0x1,            // column 127 mapped to SEG0
+    SSD1306_COMSCANDEC,                // column scan direction reversed
+    SSD1306_SETCOMPINS, 0X12,          // set COM pins
+    SSD1306_SETCONTRAST, 0x7F,         // contrast level 127
+    SSD1306_SETPRECHARGE, 0xF1,        // pre-charge period (1, 15)
+    SSD1306_SETVCOMDETECT, 0x40,       // vcomh regulator level
+    SSD1306_DISPLAYALLON_RESUME,
+    SSD1306_NORMALDISPLAY,
+    SSD1306_DISPLAYON
+};
+
+//------------------------------------------------------------------------------
+// This section is based on https://github.com/stanleyhuangyc/MultiLCD
+
+/** Initialization commands for a 128x64 SH1106 oled display. */
+const uint8_t FLASH SSD1306AsciiWire::SH1106_132x64init[] = {
+  0x00,                                  // Set to command mode
+  SSD1306_DISPLAYOFF,
+  SSD1306_SETDISPLAYCLOCKDIV, 0X80,      // set osc division
+  SSD1306_SETMULTIPLEX, 0x3F,            // ratio 64
+  SSD1306_SETDISPLAYOFFSET, 0X00,        // set display offset
+  SSD1306_SETSTARTPAGE | 0X0,            // set page address
+  SSD1306_SETSTARTLINE | 0x0,            // set start line
+  SH1106_SET_PUMP_MODE, SH1106_PUMP_ON,  // set charge pump enable
+  SSD1306_SEGREMAP | 0X1,                // set segment remap
+  SSD1306_COMSCANDEC,                    // Com scan direction
+  SSD1306_SETCOMPINS, 0X12,              // set COM pins
+  SSD1306_SETCONTRAST, 0x80,             // 128
+  SSD1306_SETPRECHARGE, 0X1F,            // set pre-charge period
+  SSD1306_SETVCOMDETECT,  0x40,          // set vcomh
+  SH1106_SET_PUMP_VOLTAGE | 0X2,         // 8.0 volts
+  SSD1306_NORMALDISPLAY,                 // normal / reverse
+  SSD1306_DISPLAYON
+};
+
 //==============================================================================
 // SSD1306AsciiWire Method Definitions
 //------------------------------------------------------------------------------
  
 // Constructor
 SSD1306AsciiWire::SSD1306AsciiWire(int width, int height) {
+  m_displayWidth = width;
+  m_displayHeight = height;
   // Set size in characters in base class
   lcdRows = height / 8;
   lcdCols = width / 6;
-
-  // Initialise request block for I2C
-  requestBlock.init();
+  m_col = 0;
+  m_row = 0;
+  m_colOffset = 0;
 
   I2CManager.begin();
   I2CManager.setClock(400000L);  // Set max supported I2C speed
   for (byte address = 0x3c; address <= 0x3d; address++) {
     if (I2CManager.exists(address)) {
+      m_i2cAddr = address;
+      if (m_displayWidth==132 && m_displayHeight==64) {
+        // SH1106 display.  This uses 128x64 centered within a 132x64 OLED.
+        m_colOffset = 2;
+        I2CManager.write_P(address, SH1106_132x64init, sizeof(SH1106_132x64init));
+      } else if (m_displayWidth==128 && (m_displayHeight==64 || m_displayHeight==32)) {
+        // SSD1306 128x64 or 128x32
+        I2CManager.write_P(address, Adafruit128xXXinit, sizeof(Adafruit128xXXinit));
+        if (m_displayHeight == 32) 
+          I2CManager.write(address, 5, 0, // Set command mode
+            SSD1306_SETMULTIPLEX, 0x1F,     // ratio 32
+            SSD1306_SETCOMPINS, 0x02);      // sequential COM pins, disable remap
+      } else {
+        DIAG(F("OLED configuration option not recognised"));
+        return;
+      }
       // Device found
       DIAG(F("%dx%d OLED display configured on I2C:x%x"), width, height, address);
-      if (width == 132)
-        begin(&SH1106_132x64, address);
-      else if (height == 32)
-        begin(&Adafruit128x32, address);
-      else
-        begin(&Adafruit128x64, address);
       // Set singleton address
       lcdDisplay = this;
       clear();
@@ -135,23 +197,6 @@ void SSD1306AsciiWire::clearNative() {
   }
 }
 
-// Initialise device
-void SSD1306AsciiWire::begin(const DevType* dev, uint8_t i2cAddr) {
-  m_i2cAddr = i2cAddr;
-  m_col = 0;
-  m_row = 0;
-  const uint8_t* table = (const uint8_t*)GETFLASHW(&dev->initcmds);
-  uint8_t size = GETFLASH(&dev->initSize);
-  m_displayWidth = GETFLASH(&dev->lcdWidth);
-  m_displayHeight = GETFLASH(&dev->lcdHeight);
-  m_colOffset = GETFLASH(&dev->colOffset);
-  I2CManager.write_P(m_i2cAddr, table, size);
-  if (m_displayHeight == 32) 
-    I2CManager.write(m_i2cAddr, 5, 0, // Set command mode
-      SSD1306_SETMULTIPLEX, 0x1F,     // ratio 32
-      SSD1306_SETCOMPINS, 0x02);      // sequential COM pins, disable remap
-}
-
 //------------------------------------------------------------------------------
 
 // Set cursor position (by text line)
@@ -212,82 +257,6 @@ size_t SSD1306AsciiWire::writeNative(uint8_t ch) {
   return 1;
 }
 
-//==============================================================================
-// this section is based on https://github.com/adafruit/Adafruit_SSD1306
-
-/** Initialization commands for a 128x32 or 128x64 SSD1306 oled display. */
-const uint8_t FLASH SSD1306AsciiWire::Adafruit128xXXinit[] = {
-    // Init sequence for Adafruit 128x32/64 OLED module
-    0x00,                              // Set to command mode
-    SSD1306_DISPLAYOFF,
-    SSD1306_SETDISPLAYCLOCKDIV, 0x80,  // the suggested ratio 0x80 
-    SSD1306_SETMULTIPLEX, 0x3F,        // ratio 64 (initially)
-    SSD1306_SETDISPLAYOFFSET, 0x0,     // no offset
-    SSD1306_SETSTARTLINE | 0x0,        // line #0
-    SSD1306_CHARGEPUMP, 0x14,          // internal vcc
-    SSD1306_MEMORYMODE, 0x02,          // page mode
-    SSD1306_SEGREMAP | 0x1,            // column 127 mapped to SEG0
-    SSD1306_COMSCANDEC,                // column scan direction reversed
-    SSD1306_SETCOMPINS, 0X12,          // set COM pins
-    SSD1306_SETCONTRAST, 0x7F,         // contrast level 127
-    SSD1306_SETPRECHARGE, 0xF1,        // pre-charge period (1, 15)
-    SSD1306_SETVCOMDETECT, 0x40,       // vcomh regulator level
-    SSD1306_DISPLAYALLON_RESUME,
-    SSD1306_NORMALDISPLAY,
-    SSD1306_DISPLAYON
-};
-
-/** Initialize a 128x32 SSD1306 oled display. */
-const DevType FLASH SSD1306AsciiWire::Adafruit128x32 = {
-  Adafruit128xXXinit,
-  sizeof(Adafruit128xXXinit),
-  128,
-  32,
-  0
-};
-
-/** Initialize a 128x64 oled display. */
-const DevType FLASH SSD1306AsciiWire::Adafruit128x64 = {
-  Adafruit128xXXinit,
-  sizeof(Adafruit128xXXinit),
-  128,
-  64,
-  0
-};
-//------------------------------------------------------------------------------
-// This section is based on https://github.com/stanleyhuangyc/MultiLCD
-
-/** Initialization commands for a 128x64 SH1106 oled display. */
-const uint8_t FLASH SSD1306AsciiWire::SH1106_132x64init[] = {
-  0x00,                                  // Set to command mode
-  SSD1306_DISPLAYOFF,
-  SSD1306_SETDISPLAYCLOCKDIV, 0X80,      // set osc division
-  SSD1306_SETMULTIPLEX, 0x3F,            // ratio 64
-  SSD1306_SETDISPLAYOFFSET, 0X00,        // set display offset
-  SSD1306_SETSTARTPAGE | 0X0,            // set page address
-  SSD1306_SETSTARTLINE | 0x0,            // set start line
-  SH1106_SET_PUMP_MODE, SH1106_PUMP_ON,  // set charge pump enable
-  SSD1306_SEGREMAP | 0X1,                // set segment remap
-  SSD1306_COMSCANDEC,                    // Com scan direction
-  SSD1306_SETCOMPINS, 0X12,              // set COM pins
-  SSD1306_SETCONTRAST, 0x80,             // 128
-  SSD1306_SETPRECHARGE, 0X1F,            // set pre-charge period
-  SSD1306_SETVCOMDETECT,  0x40,          // set vcomh
-  SH1106_SET_PUMP_VOLTAGE | 0X2,         // 8.0 volts
-  SSD1306_NORMALDISPLAY,                 // normal / reverse
-  SSD1306_DISPLAYON
-};
-
-/** Initialize a 132x64 oled SH1106 display. */
-const DevType FLASH SSD1306AsciiWire::SH1106_132x64 =  {
-  SH1106_132x64init,
-  sizeof(SH1106_132x64init),
-  128,
-  64,
-  2    // SH1106 is a 132x64 controller but most OLEDs are only attached
-       // to columns 2-129.
-};
-
 
 //------------------------------------------------------------------------------
 

SSD1306Ascii.h

@@ -32,21 +32,6 @@
 //#define NOLOWERCASE
 
 //------------------------------------------------------------------------------
-// Device initialization structure.
-
-struct DevType {
-  /* Pointer to initialization command bytes. */
-  const uint8_t* initcmds;
-  /* Number of initialization bytes */
-  const uint8_t initSize;
-  /* Width of the display in pixels */
-  const uint8_t lcdWidth;
-  /** Height of the display in pixels. */
-  const uint8_t lcdHeight;
-  /* Column offset RAM to display.  Used to pick start column of SH1106. */
-  const uint8_t colOffset;
-};
-
 // Constructor
 class SSD1306AsciiWire : public LCDDisplay {
  public:
@@ -55,25 +40,17 @@ class SSD1306AsciiWire : public LCDDisplay {
   SSD1306AsciiWire(int width, int height);
 
   // Initialize the display controller.
-  void begin(const DevType* dev, uint8_t i2cAddr);
+  void begin(uint8_t i2cAddr);
 
   // Clear the display and set the cursor to (0, 0).
   void clearNative() override;
 
   // Set cursor to start of specified text line
   void setRowNative(byte line) override;
-
-  // Initialize the display controller.
-  void init(const DevType* dev);
   
   // Write one character to OLED
   size_t writeNative(uint8_t c) override;
 
-  // Display characteristics / initialisation
-  static const DevType FLASH Adafruit128x32;
-  static const DevType FLASH Adafruit128x64;
-  static const DevType FLASH SH1106_132x64;
-
   bool isBusy() override { return requestBlock.isBusy(); }
 
  private:

Sensors.cpp

@@ -1,8 +1,10 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
- *  © 2021, modified by Neil McKechnie. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
- *  This file is part of Asbelos DCC API
+ *  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
@@ -67,8 +69,11 @@ decide to ignore the <q ID> return and only react to <Q ID> triggers.
 **********************************************************************/
 
 #include "StringFormatter.h"
+#include "CommandDistributor.h"
 #include "Sensors.h"
+#ifndef DISABLE_EEPROM
 #include "EEStore.h"
+#endif
 #include "IODevice.h"
 
 
@@ -85,7 +90,7 @@ decide to ignore the <q ID> return and only react to <Q ID> triggers.
 // second part of the list is determined from by the 'firstPollSensor' pointer.
 ///////////////////////////////////////////////////////////////////////////////
 
-void Sensor::checkAll(Print *stream){
+void Sensor::checkAll(){
   uint16_t sensorCount = 0;
 
 #ifdef USE_NOTIFY
@@ -103,12 +108,6 @@ void Sensor::checkAll(Print *stream){
       // Required time elapsed since last read cycle started,
       // so initiate new scan through the sensor list
       readingSensor = firstSensor;
-#ifdef USE_NOTIFY
-      if (firstSensor == firstPollSensor) 
-        pollSignalPhase = true;
-      else
-        pollSignalPhase = false;
-#endif
       lastReadCycle = thisTime;
     }
   }
@@ -117,12 +116,6 @@ void Sensor::checkAll(Print *stream){
   bool pause = false;
   while (readingSensor != NULL && !pause) {
 
-#ifdef USE_NOTIFY
-    // Check if we have reached the start of the polled portion of the sensor list.
-    if (readingSensor == firstPollSensor)
-      pollSignalPhase = true;
-#endif
-
     // Where the sensor is attached to a pin, read pin status.  For sources such as LCN,
     // which don't have an input pin to read, the LCN class calls setState() to update inputState when
     // a message is received.  The IODevice::read() call returns 1 for active pins (0v) and 0 for inactive (5v).
@@ -130,10 +123,8 @@ void Sensor::checkAll(Print *stream){
     // routine when an input signal change is detected, and this updates the inputState directly,
     // so these inputs don't need to be polled here.
     VPIN pin = readingSensor->data.pin;
-#ifdef USE_NOTIFY
-    if (pollSignalPhase)
-#endif
-      if (pin!=VPIN_NONE) readingSensor->inputState = IODevice::read(pin);
+    if (readingSensor->pollingRequired && pin != VPIN_NONE)
+      readingSensor->inputState = IODevice::read(pin);
 
     // Check if changed since last time, and process changes.
     if (readingSensor->inputState == readingSensor->active) {
@@ -147,31 +138,19 @@ void Sensor::checkAll(Print *stream){
       readingSensor->active = readingSensor->inputState;
       readingSensor->latchDelay = minReadCount;  // Reset counter
       
-      if (stream != NULL) {
-        StringFormatter::send(stream, F("<%c %d>\n"), readingSensor->active ? 'Q' : 'q', readingSensor->data.snum);
-        pause = true;  // Don't check any more sensors on this entry
-      }
+      CommandDistributor::broadcastSensor(readingSensor->data.snum,readingSensor->active);
+      pause = true;  // Don't check any more sensors on this entry
     }
 
     // Move to next sensor in list.
     readingSensor = readingSensor->nextSensor;
 
-    // Currently process max of 16 sensors per entry for polled sensors, and
-    //  16 per entry for sensors notified by callback.
-    // Performance measurements taken during development indicate that, with 64 sensors configured
-    // on 8x 8-pin PCF8574 GPIO expanders, all inputs can be read within 1.4ms (400Mhz I2C bus speed), and a
-    // full cycle of scanning 64 sensors for changes takes between 1.9 and 3.2 milliseconds.
+    // Currently process max of 16 sensors per entry.
+    // Performance measurements taken during development indicate that, with 128 sensors configured
+    // on 8x 16-pin MCP23017 GPIO expanders with polling (no change notification), all inputs can be read from the devices
+    // within 1.4ms (400Mhz I2C bus speed), and a full cycle of checking 128 sensors for changes takes under a millisecond.
     sensorCount++;
-#ifdef USE_NOTIFY
-    if (pollSignalPhase) {
-#endif
-      if (sensorCount >= 16) pause = true;
-#ifdef USE_NOTIFY
-    } else 
-    {
-      if (sensorCount >= 16) pause = true;
-    }
-#endif
+    if (sensorCount >= 16) pause = true;
   }
 
 } // Sensor::checkAll
@@ -223,23 +202,18 @@ Sensor *Sensor::create(int snum, VPIN pin, int pullUp){
   tt = (Sensor *)calloc(1,sizeof(Sensor));
   if (!tt) return tt;     // memory allocation failure
 
-#ifdef USE_NOTIFY
-  if (pin == VPIN_NONE || IODevice::hasCallback(pin)) {
-    // Callback available, or no pin to read, so link sensor on to the start of the list
-    tt->nextSensor = firstSensor;
-    firstSensor = tt;
-    if (lastSensor == NULL) lastSensor = tt;  // This is only item in list.
-  } else {
-    // No callback, so add to end of list so it's polled.
-    if (lastSensor != NULL) lastSensor->nextSensor = tt;
-    lastSensor = tt;
-    if (!firstSensor) firstSensor = tt;
-    if (!firstPollSensor) firstPollSensor = tt;
-  }
-#else
+  if (pin == VPIN_NONE) 
+    tt->pollingRequired = false;
+  #ifdef USE_NOTIFY
+  else if (IODevice::hasCallback(pin)) 
+    tt->pollingRequired = false;
+  #endif
+  else 
+    tt->pollingRequired = true;
+
+  // Add to the start of the list
   tt->nextSensor = firstSensor;
   firstSensor = tt;
-#endif
 
   tt->data.snum = snum;
   tt->data.pin = pin;
@@ -248,9 +222,8 @@ Sensor *Sensor::create(int snum, VPIN pin, int pullUp){
   tt->inputState = 0;
   tt->latchDelay = minReadCount;
 
-  int params[] = {pullUp};
   if (pin != VPIN_NONE) 
-    IODevice::configure(pin, IODevice::CONFIGURE_INPUT, 1, params);   
+    IODevice::configureInput(pin, pullUp);   
     // Generally, internal pull-up resistors are not, on their own, sufficient 
     // for external infrared sensors --- each sensor must have its own 1K external pull-up resistor
 
@@ -305,12 +278,13 @@ bool Sensor::remove(int n){
 }
 
 ///////////////////////////////////////////////////////////////////////////////
-
+#ifndef DISABLE_EEPROM
 void Sensor::load(){
   struct SensorData data;
   Sensor *tt;
 
-  for(uint16_t i=0;i<EEStore::eeStore->data.nSensors;i++){
+  uint16_t i=EEStore::eeStore->data.nSensors;
+  while(i--){
     EEPROM.get(EEStore::pointer(),data);
     tt=create(data.snum, data.pin, data.pullUp);
     EEStore::advance(sizeof(tt->data));
@@ -332,7 +306,7 @@ void Sensor::store(){
     EEStore::eeStore->data.nSensors++;
   }
 }
-
+#endif
 ///////////////////////////////////////////////////////////////////////////////
 
 Sensor *Sensor::firstSensor=NULL;
@@ -342,6 +316,5 @@ unsigned long Sensor::lastReadCycle=0;
 #ifdef USE_NOTIFY
 Sensor *Sensor::firstPollSensor = NULL;
 Sensor *Sensor::lastSensor = NULL;
-bool Sensor::pollSignalPhase = false;
 bool Sensor::inputChangeCallbackRegistered = false;
-#endif
+#endif

Sensors.h

@@ -1,5 +1,8 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *
@@ -45,14 +48,6 @@ struct SensorData {
 class Sensor{
   // The sensor list is a linked list where each sensor's 'nextSensor' field points to the next.
   //   The pointer is null in the last on the list.
-  //   To partition the sensor into those sensors which require polling through cyclic calls
-  //   to 'IODevice::read(vpin)', and those which support callback on change, 'firstSensor' 
-  //   points to the start of the overall list, and 'lastSensor' points to the end of the list
-  //   (the last sensor object). This structure allows sensors to be added to the start or the
-  //   end of the list easily.  So if an input pin supports change notification, it is placed at the 
-  //   end of the list.  If not, it is placed at the beginning.  And the pointer 'firstPollSensor' 
-  //   is set to the first of the sensor objects that requires scanning.  Thus, we can iterate
-  //   through the whole list, or just through the part that requires scanning.
 
 public:
   SensorData data;
@@ -74,13 +69,16 @@ public:
   // Constructor
   Sensor(); 
   Sensor *nextSensor;
+
   void setState(int state);
+#ifndef DISABLE_EEPROM
   static void load();
   static void store();
+#endif
   static Sensor *create(int id, VPIN vpin, int pullUp);
   static Sensor* get(int id);  
   static bool remove(int id);  
-  static void checkAll(Print *stream);
+  static void checkAll();
   static void printAll(Print *stream);
   static unsigned long lastReadCycle; // value of micros at start of last read cycle
   static const unsigned int cycleInterval = 10000; // min time between consecutive reads of each sensor in microsecs.
@@ -88,9 +86,9 @@ public:
   static const unsigned int minReadCount = 1; // number of additional scans before acting on change
                                         // E.g. 1 means that a change is ignored for one scan and actioned on the next.
                                         // Max value is 63
+  bool pollingRequired = true;
 
 #ifdef USE_NOTIFY
-  static bool pollSignalPhase;
   static void inputChangeCallback(VPIN vpin, int state);
   static bool inputChangeCallbackRegistered;
 #endif

SerialManager.cpp

@@ -0,0 +1,77 @@
+ /*
+ *  © 2021 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of DCC++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 "SerialManager.h"
+ #include "DCCEXParser.h"
+  SerialManager * SerialManager::first=NULL;
+
+  SerialManager::SerialManager(HardwareSerial * myserial) {
+    serial=myserial;
+    next=first;
+    first=this;
+    bufferLength=0;
+    myserial->begin(115200);
+    inCommandPayload=false; 
+  } 
+
+void SerialManager::init() {
+#ifdef SERIAL3_COMMANDS
+    new SerialManager(&Serial3);
+#endif
+#ifdef SERIAL2_COMMANDS
+    new SerialManager(&Serial2);
+#endif
+#ifdef SERIAL1_COMMANDS
+    new SerialManager(&Serial1);
+#endif
+   new SerialManager(&Serial);
+}
+
+void SerialManager::broadcast(RingStream * ring) {
+    for (SerialManager * s=first;s;s=s->next) s->broadcast2(ring);
+}
+void SerialManager::broadcast2(RingStream * ring) {
+    ring->printBuffer(serial);
+}
+
+void SerialManager::loop() {
+    for (SerialManager * s=first;s;s=s->next) s->loop2();
+}
+
+void SerialManager::loop2() {
+    while (serial->available()) {
+        char ch = serial->read();
+        if (ch == '<') {
+            inCommandPayload = true;
+            bufferLength = 0;
+            buffer[0] = '\0';
+        }
+        else if (ch == '>') {
+            buffer[bufferLength] = '\0';
+            DCCEXParser::parse(serial, buffer, NULL); 
+            inCommandPayload = false;
+            break;
+        }
+        else if (inCommandPayload) {
+            if (bufferLength <  (COMMAND_BUFFER_SIZE-1)) buffer[bufferLength++] = ch;
+        }
+    }
+    
+}

SerialManager.h

@@ -0,0 +1,49 @@
+ /*
+ *  © 2021 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of DCC++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 SerialManager_h
+#define SerialManager_h
+
+#include "Arduino.h"
+#include "defines.h"
+#include "RingStream.h"
+
+#ifndef COMMAND_BUFFER_SIZE
+ #define COMMAND_BUFFER_SIZE 100
+#endif
+
+class SerialManager {
+public:
+  static void init();
+  static void loop();
+  static void broadcast(RingStream * ring);
+  
+private:  
+  static SerialManager * first;
+  SerialManager(HardwareSerial * myserial);
+  void loop2();
+  void broadcast2(RingStream * ring);
+  HardwareSerial * serial;
+  SerialManager * next;
+  byte bufferLength;
+  byte buffer[COMMAND_BUFFER_SIZE]; 
+  bool inCommandPayload;
+};
+#endif

Turnouts.cpp

@@ -1,9 +1,13 @@
 /*
+ *  © 2021 Neil McKechnie
+ *  © 2021 M Steve Todd
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
  *  © 2013-2016 Gregg E. Berman
- *  © 2020, Chris Harlow. All rights reserved.
- *  © 2020, Harald Barth.
+ *  All rights reserved.
  *  
- *  This file is part of Asbelos DCC API
+ *  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
@@ -19,390 +23,517 @@
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-// >>>>>> ATTENTION: This class requires major cleaning.
-// The public interface has been narrowed to avoid the ambuguity of "activated".
 
-
- 
-//#define EESTOREDEBUG 
-#include "defines.h"
-#include "Turnouts.h"
+#include "defines.h"  // includes config.h
+#ifndef DISABLE_EEPROM
 #include "EEStore.h"
+#endif
 #include "StringFormatter.h"
+#include "CommandDistributor.h"
 #include "RMFT2.h"
+#include "Turnouts.h"
+#include "DCC.h"
+#include "LCN.h"
 #ifdef EESTOREDEBUG
 #include "DIAG.h"
 #endif
 
-// Keywords used for turnout configuration.
-const int16_t HASH_KEYWORD_SERVO=27709;
-const int16_t HASH_KEYWORD_DCC=6436;
-const int16_t HASH_KEYWORD_VPIN=-415;
+  /* 
+   * Protected static data
+   */ 
 
-enum unit8_t {
-  TURNOUT_DCC = 1,
-  TURNOUT_SERVO = 2,
-  TURNOUT_VPIN = 3,
-  TURNOUT_LCN = 4,
-};
-
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function to print all Turnout states to stream in form "<H id state>"
-
-void Turnout::printAll(Print *stream){
-  for (Turnout *tt = Turnout::firstTurnout; tt != NULL; tt = tt->nextTurnout)
-    StringFormatter::send(stream, F("<H %d %d>\n"), tt->data.id, tt->data.active);
-} // Turnout::printAll
-
-///////////////////////////////////////////////////////////////////////////////
-// Object method to print configuration of one Turnout to stream, in one of the following forms:
-//  <H id SERVO vpin activePos inactivePos profile state>
-//  <H id LCN state>
-//  <H id VPIN vpin state>
-//  <H id DCC address subAddress state>
-
-void Turnout::print(Print *stream){
-  uint8_t state = ((data.active) != 0);
-  uint8_t type = data.type;
-  switch (type) {
-    case TURNOUT_LCN:
-      // LCN Turnout
-      StringFormatter::send(stream, F("<H %d LCN %d>\n"), data.id, state);
-      break;
-    case TURNOUT_DCC:
-      // DCC Turnout
-      StringFormatter::send(stream, F("<H %d DCC %d %d %d>\n"), data.id, 
-        (((data.dccAccessoryData.address-1) >> 2)+1), ((data.dccAccessoryData.address-1) & 3), state);
-      break;
-    case TURNOUT_VPIN:
-      // VPIN Digital output
-      StringFormatter::send(stream, F("<H %d VPIN %d %d>\n"), data.id, data.vpinData.vpin, state);
-      break;
-    case TURNOUT_SERVO:
-      // Servo Turnout
-      StringFormatter::send(stream, F("<H %d SERVO %d %d %d %d %d>\n"), data.id, data.servoData.vpin, 
-        data.servoData.activePosition, data.servoData.inactivePosition, data.servoData.profile, state);
-      break;
-    default:
-      break;
-  }
-}
-
-
-// Public interface to turnout throw/close
-bool Turnout::setClosed(int id, bool closed) {
-   // hides the internal activate argument to a single place
-   return activate(id, closed? false: true );  /// Needs cleaning up 
-}
-bool Turnout::isClosed(int id) {
-   // hides the internal activate argument to a single place
-   return !isActive(id);  /// Needs cleaning up 
-}
-int Turnout::getId() {
-  return data.id;
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function to activate/deactivate Turnout with ID 'n'.
-//   Returns false if turnout not found.
+  /* static */ Turnout *Turnout::_firstTurnout = 0;
 
+  /* 
+   * Public static data
+   */
+  /* static */ int Turnout::turnoutlistHash = 0;
  
-bool Turnout::activate(int n, bool state){
-  Turnout * tt=get(n);
-  if (!tt) return false;
-  tt->activate(state);
-  turnoutlistHash++;
-  return true;
-}
+  /*
+   * Protected static functions
+   */
 
-///////////////////////////////////////////////////////////////////////////////
-// Static function to check if the Turnout with ID 'n' is activated or not.
-// Returns false if turnout not found.
-
-bool Turnout::isActive(int n){
-  Turnout * tt=get(n);
-  if (!tt) return false;
-  return tt->isActive();
-}
-
-
-///////////////////////////////////////////////////////////////////////////////
-// Object function to check the status of Turnout is activated or not.
-
-bool Turnout::isActive() {
-  return data.active;
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Object method to activate or deactivate the Turnout.  
-
-// activate is virtual here so that it can be overridden by a non-DCC turnout mechanism
-void Turnout::activate(bool state) {
-#ifdef EESTOREDEBUG
-  DIAG(F("Turnout::activate(%d)"),state);
-#endif
-  if (data.type == TURNOUT_LCN) {
-      // A LCN turnout is transmitted to the LCN master.
-      LCN::send('T', data.id, state);
-      return;   // The tStatus will be updated by a message from the LCN master, later.
-  }
-    data.active = state;
-    switch (data.type) {
-      case TURNOUT_DCC:
-        DCC::setAccessory((((data.dccAccessoryData.address-1) >> 2) + 1), 
-          ((data.dccAccessoryData.address-1) & 3), state);
-        break;
-      case TURNOUT_SERVO:
-#ifndef IO_NO_HAL
-        IODevice::write(data.servoData.vpin, state);
-#endif
-        break;
-      case TURNOUT_VPIN:
-        IODevice::write(data.vpinData.vpin, state);
-        break;
-    }
-    // Save state if stored in EEPROM
-    if (EEStore::eeStore->data.nTurnouts > 0 && num > 0) 
-      EEPROM.put(num, data.tStatus);
-
-#if defined(RMFT_ACTIVE)
-  RMFT2::turnoutEvent(data.id, !state);
-#endif  
-
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function to find Turnout object specified by ID 'n'.  Return NULL if not found.
-
-Turnout* Turnout::get(int n){
-  Turnout *tt;
-  for(tt=firstTurnout;tt!=NULL && tt->data.id!=n;tt=tt->nextTurnout);
-  return(tt);
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function to delete Turnout object specified by ID 'n'.  Return false if not found.
-
-bool Turnout::remove(int n){
-  Turnout *tt,*pp=NULL;
-
-  for(tt=firstTurnout;tt!=NULL && tt->data.id!=n;pp=tt,tt=tt->nextTurnout);
-
-  if(tt==NULL) return false;
-  
-  if(tt==firstTurnout)
-    firstTurnout=tt->nextTurnout;
-  else
-    pp->nextTurnout=tt->nextTurnout;
-
-  free(tt);
-  turnoutlistHash++;
-  return true; 
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function to load all Turnout definitions from EEPROM
-// TODO: Consider transmitting the initial state of the DCC/LCN turnout here.
-//  (already done for servo turnouts and VPIN turnouts).
-
-void Turnout::load(){
-  struct TurnoutData data;
-  Turnout *tt=NULL;
-
-  for(uint16_t i=0;i<EEStore::eeStore->data.nTurnouts;i++){
-    // Retrieve data
-    EEPROM.get(EEStore::pointer(), data);
-    
-    int lastKnownState = data.active;
-    switch (data.type) {
-      case TURNOUT_DCC:
-        tt=createDCC(data.id, ((data.dccAccessoryData.address-1)>>2)+1, (data.dccAccessoryData.address-1)&3); // DCC-based turnout
-        break;
-      case TURNOUT_LCN:
-        // LCN turnouts are created when the remote device sends a message.
-        break;
-      case TURNOUT_SERVO:
-        tt=createServo(data.id, data.servoData.vpin, 
-          data.servoData.activePosition, data.servoData.inactivePosition, data.servoData.profile, lastKnownState);
-        break;
-      case TURNOUT_VPIN:
-        tt=createVpin(data.id, data.vpinData.vpin, lastKnownState);  // VPIN-based turnout
-        break;
-       
-      default:
-       tt=NULL;
-    }
-    if (tt) tt->num = EEStore::pointer() + offsetof(TurnoutData, tStatus);  // Save pointer to tStatus byte within EEPROM
-    // Advance by the actual size of the individual turnout struct.
-    EEStore::advance(data.size);
-#ifdef EESTOREDEBUG
-    if (tt) print(tt);
-#endif
-  }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function to store all Turnout definitions to EEPROM
-
-void Turnout::store(){
-  Turnout *tt;
-
-  tt=firstTurnout;
-  EEStore::eeStore->data.nTurnouts=0;
-
-  while(tt!=NULL){
-    // LCN turnouts aren't saved to EEPROM
-    if (tt->data.type != TURNOUT_LCN) {  
-#ifdef EESTOREDEBUG
-      print(tt);
-#endif
-      tt->num = EEStore::pointer() + offsetof(TurnoutData, tStatus); // Save pointer to tstatus byte within EEPROM
-      EEPROM.put(EEStore::pointer(),tt->data);
-      EEStore::advance(tt->data.size);
-      EEStore::eeStore->data.nTurnouts++;
-    }
-    tt=tt->nextTurnout;
-  }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function for creating a DCC-controlled Turnout.
-
-Turnout *Turnout::createDCC(int id, uint16_t add, uint8_t subAdd){
-  if (add > 511 || subAdd > 3) return NULL;
-  Turnout *tt=create(id);
-  if (!tt) return(tt);
-  tt->data.type = TURNOUT_DCC;
-  tt->data.size = sizeof(tt->data.header) + sizeof(tt->data.dccAccessoryData);
-  tt->data.active = 0;
-  tt->data.dccAccessoryData.address = ((add-1) << 2) + subAdd + 1;
-  return(tt);
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function for creating a LCN-controlled Turnout.
-
-Turnout *Turnout::createLCN(int id, uint8_t state) {
-  Turnout *tt=create(id);
-  if (!tt) return(tt);
-  tt->data.type = TURNOUT_LCN;
-  tt->data.size = sizeof(tt->data.header) + sizeof(tt->data.lcnData);
-  tt->data.active = (state != 0);
-  return(tt);
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Static function for associating a Turnout id with a virtual pin in IODevice space.
-// The actual creation and configuration of the pin must be done elsewhere,
-// e.g. in mySetup.cpp during startup of the CS.
-
-Turnout *Turnout::createVpin(int id, VPIN vpin, uint8_t state){
-  if (vpin > VPIN_MAX) return NULL;
-  Turnout *tt=create(id);
-  if(!tt) return(tt);
-  tt->data.type = TURNOUT_VPIN;;
-  tt->data.size = sizeof(tt->data.header) + sizeof(tt->data.vpinData);
-  tt->data.active = (state != 0);
-  tt->data.vpinData.vpin = vpin;
-  IODevice::write(vpin, state);   // Set initial state of output.
-  return(tt);
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Method for creating a Servo Turnout, e.g. connected to PCA9685 PWM device.
-
-Turnout *Turnout::createServo(int id, VPIN vpin, uint16_t activePosition, uint16_t inactivePosition, uint8_t profile, uint8_t state){
-#ifndef IO_NO_HAL
-  if (activePosition > 511 || inactivePosition > 511 || profile > 4) return NULL;
-
-  Turnout *tt=create(id);
-  if (!tt) return(tt);
-  if (tt->data.type != TURNOUT_SERVO) tt->data.active = (state != 0);  // Retain current state if it's an existing servo turnout.
-  tt->data.type = TURNOUT_SERVO;
-  tt->data.size = sizeof(tt->data.header) + sizeof(tt->data.servoData);
-  tt->data.servoData.vpin = vpin;
-  tt->data.servoData.activePosition = activePosition;
-  tt->data.servoData.inactivePosition = inactivePosition;
-  tt->data.servoData.profile = profile;
-  // Configure PWM interface device
-  int deviceParams[] = {(int)activePosition, (int)inactivePosition, profile, tt->data.active};
-  if (!IODevice::configure(vpin, IODevice::CONFIGURE_SERVO, 4, deviceParams)) {
-    remove(id);
+  /* static */ Turnout *Turnout::get(uint16_t id) {
+    // Find turnout object from list.
+    for (Turnout *tt = _firstTurnout; tt != NULL; tt = tt->_nextTurnout)
+      if (tt->_turnoutData.id == id) return tt;
     return NULL;
   }
-  return(tt);
-#else
-  (void)id; (void)vpin; (void)activePosition; (void)inactivePosition; (void)profile; (void)state;  // avoid compiler warnings
-  return NULL;
-#endif
-}
 
-///////////////////////////////////////////////////////////////////////////////
-// Support for <T id SERVO pin activepos inactive pos profile>
-// and <T id DCC address subaddress>
-// and <T id VPIN pin>
+  // Add new turnout to end of chain
+  /* static */ void Turnout::add(Turnout *tt) {
+    if (!_firstTurnout) 
+      _firstTurnout = tt;
+    else {
+      // Find last object on chain
+      Turnout *ptr = _firstTurnout;
+      for ( ; ptr->_nextTurnout!=0; ptr=ptr->_nextTurnout) {}
+      // Line new object to last object.
+      ptr->_nextTurnout = tt;
+    }
+    turnoutlistHash++;
+  }
+  
+  
 
-Turnout *Turnout::create(int id, int params, int16_t p[]) {
-  if (p[0] == HASH_KEYWORD_SERVO) { // <T id SERVO n n n n>
-    if (params == 5)
-      return createServo(id, (VPIN)p[1], (uint16_t)p[2], (uint16_t)p[3], (uint8_t)p[4]);
-    else  
-      return NULL;
-  } else 
-  if (p[0] == HASH_KEYWORD_VPIN) { // <T id VPIN n>
-    if (params==2)
-      return createVpin(id, p[1]);
+  // Remove nominated turnout from turnout linked list and delete the object.
+  /* static */ bool Turnout::remove(uint16_t id) {
+    Turnout *tt,*pp=NULL;
+
+    for(tt=_firstTurnout; tt!=NULL && tt->_turnoutData.id!=id; pp=tt, tt=tt->_nextTurnout) {}
+    if (tt == NULL) return false;
+    
+    if (tt == _firstTurnout)
+      _firstTurnout = tt->_nextTurnout;
     else
-      return NULL;
-  } else
-  if (p[0]==HASH_KEYWORD_DCC) {
-    if (params==3 && p[1]>0 && p[1]<=512 && p[2]>=0 && p[2]<4)  // <T id DCC n n>
-      return createDCC(id, p[1], p[2]);
-    else if (params==2 && p[1]>0 && p[1]<=512*4)  // <T id DCC nn>
-      return createDCC(id, (p[1]-1)/4+1, (p[1]-1)%4);
-    else
-      return NULL;
-  } else if (params==2) { // <T id n n> for DCC or LCN
-    return createDCC(id, p[0], p[1]);
+      pp->_nextTurnout = tt->_nextTurnout;
+
+    delete (ServoTurnout *)tt;
+
+    turnoutlistHash++;
+    return true; 
   } 
-  else if (params==3) { // legacy <T id n n n> for Servo
-    return createServo(id, (VPIN)p[0], (uint16_t)p[1], (uint16_t)p[2]);
+
+
+  /*
+   * Public static functions
+   */
+
+  /* static */ bool Turnout::isClosed(uint16_t id) {
+    Turnout *tt = get(id);
+    if (tt) 
+      return tt->isClosed();
+    else
+      return false;
   }
 
-  return NULL;
-}
+  /* static */ bool Turnout::setClosedStateOnly(uint16_t id, bool closeFlag) {
+    Turnout *tt = get(id);
+    if (!tt) return false;
+    tt->_turnoutData.closed = closeFlag;
 
-///////////////////////////////////////////////////////////////////////////////
-// Create basic Turnout object.  The details of what sort of object it is 
-//  controlling are not set here.
+    // I know it says setClosedStateOnly, but we need to tell others
+    //  that the state has changed too.
+    #if defined(RMFT_ACTIVE)
+      RMFT2::turnoutEvent(id, closeFlag);
+    #endif
 
-Turnout *Turnout::create(int id){
-  Turnout *tt=get(id);
-  if (tt==NULL) { 
-     tt=(Turnout *)calloc(1,sizeof(Turnout));
-     if (!tt) return (tt);
-     tt->nextTurnout=firstTurnout;
-     firstTurnout=tt;
-     tt->data.id=id;
+    CommandDistributor::broadcastTurnout(id, closeFlag);
+    return true;
   }
-  turnoutlistHash++;
-  return tt;
-}
 
-///////////////////////////////////////////////////////////////////////////////
-//
-// Object method to print debug info about the state of a Turnout object
-//
-#ifdef EESTOREDEBUG
-void Turnout::print(Turnout *tt) {
-  tt->print(StringFormatter::diagSerial);
-}
+
+  // Static setClosed function is invoked from close(), throw() etc. to perform the 
+  //  common parts of the turnout operation.  Code which is specific to a turnout
+  //  type should be placed in the virtual function setClosedInternal(bool) which is
+  //  called from here.
+  /* static */ bool Turnout::setClosed(uint16_t id, bool closeFlag) { 
+  #if defined(DIAG_IO)
+    if (closeFlag) 
+      DIAG(F("Turnout::close(%d)"), id);
+    else
+      DIAG(F("Turnout::throw(%d)"), id);
+  #endif
+    Turnout *tt = Turnout::get(id);
+    if (!tt) return false;
+    bool ok = tt->setClosedInternal(closeFlag);
+
+    if (ok) {
+      
+#ifndef DISABLE_EEPROM
+      // Write byte containing new closed/thrown state to EEPROM if required.  Note that eepromAddress
+      // is always zero for LCN turnouts.
+      if (EEStore::eeStore->data.nTurnouts > 0 && tt->_eepromAddress > 0) 
+        EEPROM.put(tt->_eepromAddress, tt->_turnoutData.flags);
 #endif
 
-///////////////////////////////////////////////////////////////////////////////
-Turnout *Turnout::firstTurnout=NULL;
-int Turnout::turnoutlistHash=0; //bump on every change so clients know when to refresh their lists
+    #if defined(RMFT_ACTIVE)
+      RMFT2::turnoutEvent(id, closeFlag);
+    #endif
+
+      // Send message to JMRI etc.
+      CommandDistributor::broadcastTurnout(id, closeFlag);
+    }
+    return ok;
+  }
+
+#ifndef DISABLE_EEPROM
+  // Load all turnout objects
+  /* static */ void Turnout::load() {
+    for (uint16_t i=0; i<EEStore::eeStore->data.nTurnouts; i++) {
+      Turnout::loadTurnout();
+    }
+  }
+
+  // Save all turnout objects
+  /* static */ void Turnout::store() {
+    EEStore::eeStore->data.nTurnouts=0;
+    for (Turnout *tt = _firstTurnout; tt != 0; tt = tt->_nextTurnout) {
+      tt->save();
+      EEStore::eeStore->data.nTurnouts++;
+    }
+  }
+
+  // Load one turnout from EEPROM
+  /* static */ Turnout *Turnout::loadTurnout () {
+    Turnout *tt = 0;
+    // Read turnout type from EEPROM
+    struct TurnoutData turnoutData;
+    int eepromAddress = EEStore::pointer() + offsetof(struct TurnoutData, flags); // Address of byte containing the closed flag.
+    EEPROM.get(EEStore::pointer(), turnoutData);
+    EEStore::advance(sizeof(turnoutData));
+
+    switch (turnoutData.turnoutType) {
+      case TURNOUT_SERVO:
+        // Servo turnout
+        tt = ServoTurnout::load(&turnoutData);
+        break;
+      case TURNOUT_DCC:
+        // DCC Accessory turnout
+        tt = DCCTurnout::load(&turnoutData);
+        break;
+      case TURNOUT_VPIN:
+        // VPIN turnout
+        tt = VpinTurnout::load(&turnoutData);
+        break;
+      default:
+        // If we find anything else, then we don't know what it is or how long it is, 
+        // so we can't go any further through the EEPROM!
+        return NULL;
+    }
+    if (tt) {
+      // Save EEPROM address in object.  Note that LCN turnouts always have eepromAddress of zero.
+      tt->_eepromAddress = eepromAddress + offsetof(struct TurnoutData, flags);
+    }
+
+#ifdef EESTOREDEBUG
+    printAll(&Serial);
+#endif
+    return tt;
+  }
+#endif
+
+/*************************************************************************************
+ * ServoTurnout - Turnout controlled by servo device.
+ * 
+ *************************************************************************************/
+
+  // Private Constructor
+  ServoTurnout::ServoTurnout(uint16_t id, VPIN vpin, uint16_t thrownPosition, uint16_t closedPosition, uint8_t profile, bool closed) :
+    Turnout(id, TURNOUT_SERVO, closed) 
+  {
+    _servoTurnoutData.vpin = vpin;
+    _servoTurnoutData.thrownPosition = thrownPosition; 
+    _servoTurnoutData.closedPosition = closedPosition;
+    _servoTurnoutData.profile = profile;
+  }
+
+  // Create function
+  /* static */ Turnout *ServoTurnout::create(uint16_t id, VPIN vpin, uint16_t thrownPosition, uint16_t closedPosition, uint8_t profile, bool closed) {
+#ifndef IO_NO_HAL
+    Turnout *tt = get(id);
+    if (tt) { 
+      // Object already exists, check if it is usable
+      if (tt->isType(TURNOUT_SERVO)) {
+        // Yes, so set parameters
+        ServoTurnout *st = (ServoTurnout *)tt;
+        st->_servoTurnoutData.vpin = vpin;
+        st->_servoTurnoutData.thrownPosition = thrownPosition;
+        st->_servoTurnoutData.closedPosition = closedPosition;
+        st->_servoTurnoutData.profile = profile;
+        // Don't touch the _closed parameter, retain the original value.
+
+        // We don't really need to do the following, since a call to IODevice::_writeAnalogue 
+        //  will provide all the data that is required!  However, if someone has configured 
+        //  a Turnout, we should ensure that the SET() RESET() and other commands that use write() 
+        //  behave consistently with the turnout commands.
+        IODevice::configureServo(vpin, thrownPosition, closedPosition, profile, 0, closed);
+
+        // Set position directly to specified position - we don't know where it is moving from.
+        IODevice::writeAnalogue(vpin, closed ? closedPosition : thrownPosition, PCA9685::Instant);
+
+        return tt;
+      } else {
+        // Incompatible object, delete and recreate
+        remove(id);
+      }
+    }
+    tt = (Turnout *)new ServoTurnout(id, vpin, thrownPosition, closedPosition, profile, closed);
+    IODevice::writeAnalogue(vpin, closed ? closedPosition : thrownPosition, PCA9685::Instant);
+    return tt;
+#else
+    (void)id; (void)vpin; (void)thrownPosition; (void)closedPosition;
+    (void)profile; (void)closed;          // avoid compiler warnings.
+    return NULL;
+#endif
+  }
+
+  // Load a Servo turnout definition from EEPROM.  The common Turnout data has already been read at this point.
+  Turnout *ServoTurnout::load(struct TurnoutData *turnoutData) {
+#ifndef DISABLE_EEPROM
+    ServoTurnoutData servoTurnoutData;
+    // Read class-specific data from EEPROM
+    EEPROM.get(EEStore::pointer(), servoTurnoutData);
+    EEStore::advance(sizeof(servoTurnoutData));
+    
+    // Create new object
+    Turnout *tt = ServoTurnout::create(turnoutData->id, servoTurnoutData.vpin, servoTurnoutData.thrownPosition,
+      servoTurnoutData.closedPosition, servoTurnoutData.profile, turnoutData->closed);
+    return tt;
+#else
+    (void)turnoutData;
+    return NULL;
+#endif
+  }
+
+  // For DCC++ classic compatibility, state reported to JMRI is 1 for thrown and 0 for closed
+  void ServoTurnout::print(Print *stream) {
+    StringFormatter::send(stream, F("<H %d SERVO %d %d %d %d %d>\n"), _turnoutData.id, _servoTurnoutData.vpin, 
+      _servoTurnoutData.thrownPosition, _servoTurnoutData.closedPosition, _servoTurnoutData.profile, 
+      !_turnoutData.closed);
+  }
+
+  // ServoTurnout-specific code for throwing or closing a servo turnout.
+  bool ServoTurnout::setClosedInternal(bool close) {
+#ifndef IO_NO_HAL
+    IODevice::writeAnalogue(_servoTurnoutData.vpin, 
+      close ? _servoTurnoutData.closedPosition : _servoTurnoutData.thrownPosition, _servoTurnoutData.profile);
+    _turnoutData.closed = close;
+#else
+    (void)close;  // avoid compiler warnings
+#endif
+    return true;
+  }
+
+  void ServoTurnout::save() {
+#ifndef DISABLE_EEPROM
+    // Write turnout definition and current position to EEPROM
+    // First write common servo data, then
+    // write the servo-specific data
+    EEPROM.put(EEStore::pointer(), _turnoutData);
+    EEStore::advance(sizeof(_turnoutData));
+    EEPROM.put(EEStore::pointer(), _servoTurnoutData);
+    EEStore::advance(sizeof(_servoTurnoutData));
+#endif
+  }
+
+/*************************************************************************************
+ * DCCTurnout - Turnout controlled by DCC Accessory Controller.
+ * 
+ *************************************************************************************/
+
+#if defined(DCC_TURNOUTS_RCN_213)
+  const bool DCCTurnout::rcn213Compliant = true;
+#else
+  const bool DCCTurnout::rcn213Compliant = false;
+#endif
+
+  // DCCTurnoutData contains data specific to this subclass that is 
+  // written to EEPROM when the turnout is saved.
+  struct DCCTurnoutData {
+    // DCC address (Address in bits 15-2, subaddress in bits 1-0
+    uint16_t address; // CS currently supports linear address 1-2048
+      // That's DCC accessory address 1-512 and subaddress 0-3.
+  } _dccTurnoutData; // 2 bytes
+
+  // Constructor
+  DCCTurnout::DCCTurnout(uint16_t id, uint16_t address, uint8_t subAdd) :
+    Turnout(id, TURNOUT_DCC, false)
+  {
+    _dccTurnoutData.address = address;
+    _dccTurnoutData.subAddress = subAdd;
+  }
+
+  // Create function
+  /* static */ Turnout *DCCTurnout::create(uint16_t id, uint16_t add, uint8_t subAdd) {
+    Turnout *tt = get(id);
+    if (tt) { 
+      // Object already exists, check if it is usable
+      if (tt->isType(TURNOUT_DCC)) {
+        // Yes, so set parameters<T>
+        DCCTurnout *dt = (DCCTurnout *)tt;
+        dt->_dccTurnoutData.address = add;
+        dt->_dccTurnoutData.subAddress = subAdd;
+        // Don't touch the _closed parameter, retain the original value.
+        return tt;
+      } else {
+        // Incompatible object, delete and recreate
+        remove(id);
+      }
+    }
+    tt = (Turnout *)new DCCTurnout(id, add, subAdd);
+    return tt;
+  }
+
+  // Load a DCC turnout definition from EEPROM.  The common Turnout data has already been read at this point.
+  /* static */ Turnout *DCCTurnout::load(struct TurnoutData *turnoutData) {
+#ifndef DISABLE_EEPROM
+    DCCTurnoutData dccTurnoutData;
+    // Read class-specific data from EEPROM
+    EEPROM.get(EEStore::pointer(), dccTurnoutData);
+    EEStore::advance(sizeof(dccTurnoutData));
+    
+    // Create new object
+    DCCTurnout *tt = new DCCTurnout(turnoutData->id, dccTurnoutData.address, dccTurnoutData.subAddress);
+
+    return tt;
+#else
+    (void)turnoutData;
+    return NULL;
+#endif
+  }
+
+  void DCCTurnout::print(Print *stream) {
+    StringFormatter::send(stream, F("<H %d DCC %d %d %d>\n"), _turnoutData.id, 
+      _dccTurnoutData.address, _dccTurnoutData.subAddress, !_turnoutData.closed); 
+    // Also report using classic DCC++ syntax for DCC accessory turnouts, since JMRI expects this.
+    StringFormatter::send(stream, F("<H %d %d %d %d>\n"), _turnoutData.id, 
+      _dccTurnoutData.address, _dccTurnoutData.subAddress, !_turnoutData.closed); 
+  }
+
+  bool DCCTurnout::setClosedInternal(bool close) {
+    // DCC++ Classic behaviour is that Throw writes a 1 in the packet,
+    // and Close writes a 0.  
+    // RCN-213 specifies that Throw is 0 and Close is 1.
+    DCC::setAccessory(_dccTurnoutData.address, _dccTurnoutData.subAddress, close ^ !rcn213Compliant);
+    _turnoutData.closed = close;
+    return true;
+  }
+
+  void DCCTurnout::save() {
+#ifndef DISABLE_EEPROM
+    // Write turnout definition and current position to EEPROM
+    // First write common servo data, then
+    // write the servo-specific data
+    EEPROM.put(EEStore::pointer(), _turnoutData);
+    EEStore::advance(sizeof(_turnoutData));
+    EEPROM.put(EEStore::pointer(), _dccTurnoutData);
+    EEStore::advance(sizeof(_dccTurnoutData));
+#endif
+  }
+
+
+
+/*************************************************************************************
+ * VpinTurnout - Turnout controlled through a HAL vpin.
+ * 
+ *************************************************************************************/
+
+  // Constructor
+  VpinTurnout::VpinTurnout(uint16_t id, VPIN vpin, bool closed) :
+    Turnout(id, TURNOUT_VPIN, closed)
+  {
+    _vpinTurnoutData.vpin = vpin;
+  }
+
+  // Create function
+  /* static */ Turnout *VpinTurnout::create(uint16_t id, VPIN vpin, bool closed) {
+    Turnout *tt = get(id);
+    if (tt) { 
+      // Object already exists, check if it is usable
+      if (tt->isType(TURNOUT_VPIN)) {
+        // Yes, so set parameters
+        VpinTurnout *vt = (VpinTurnout *)tt;
+        vt->_vpinTurnoutData.vpin = vpin;
+        // Don't touch the _closed parameter, retain the original value.
+        return tt;
+      } else {
+        // Incompatible object, delete and recreate
+        remove(id);
+      }
+    }
+    tt = (Turnout *)new VpinTurnout(id, vpin, closed);
+    return tt;
+  }
+
+  // Load a VPIN turnout definition from EEPROM.  The common Turnout data has already been read at this point.
+  /* static */ Turnout *VpinTurnout::load(struct TurnoutData *turnoutData) {
+#ifndef DISABLE_EEPROM
+    VpinTurnoutData vpinTurnoutData;
+    // Read class-specific data from EEPROM
+    EEPROM.get(EEStore::pointer(), vpinTurnoutData);
+    EEStore::advance(sizeof(vpinTurnoutData));
+    
+    // Create new object
+    VpinTurnout *tt = new VpinTurnout(turnoutData->id, vpinTurnoutData.vpin, turnoutData->closed);
+
+    return tt;
+#else
+    (void)turnoutData;
+    return NULL;
+#endif
+  }
+
+  // Report 1 for thrown, 0 for closed.
+  void VpinTurnout::print(Print *stream) {
+    StringFormatter::send(stream, F("<H %d VPIN %d %d>\n"), _turnoutData.id, _vpinTurnoutData.vpin, 
+      !_turnoutData.closed); 
+  }
+
+  bool VpinTurnout::setClosedInternal(bool close) {
+    IODevice::write(_vpinTurnoutData.vpin, close);
+    _turnoutData.closed = close;
+    return true;
+  }
+
+  void VpinTurnout::save() {
+#ifndef DISABLE_EEPROM
+    // Write turnout definition and current position to EEPROM
+    // First write common servo data, then
+    // write the servo-specific data
+    EEPROM.put(EEStore::pointer(), _turnoutData);
+    EEStore::advance(sizeof(_turnoutData));
+    EEPROM.put(EEStore::pointer(), _vpinTurnoutData);
+    EEStore::advance(sizeof(_vpinTurnoutData));
+#endif
+  }
+
+
+/*************************************************************************************
+ * LCNTurnout - Turnout controlled by Loconet
+ * 
+ *************************************************************************************/
+
+  // LCNTurnout has no specific data, and in any case is not written to EEPROM!
+  // struct LCNTurnoutData {
+  // } _lcnTurnoutData; // 0 bytes
+
+  // Constructor
+  LCNTurnout::LCNTurnout(uint16_t id, bool closed) :
+    Turnout(id, TURNOUT_LCN, closed)
+  { }
+
+  // Create function
+  /* static */ Turnout *LCNTurnout::create(uint16_t id, bool closed) {
+    Turnout *tt = get(id);
+    if (tt) { 
+      // Object already exists, check if it is usable
+      if (tt->isType(TURNOUT_LCN)) {
+        // Yes, so return this object
+        return tt;
+      } else {
+        // Incompatible object, delete and recreate
+        remove(id);
+      }
+    }
+    tt = (Turnout *)new LCNTurnout(id, closed);
+    return tt;
+  }
+
+  bool LCNTurnout::setClosedInternal(bool close) {
+    // Assume that the LCN command still uses 1 for throw and 0 for close...
+    LCN::send('T', _turnoutData.id, !close);
+    // The _turnoutData.closed flag should be updated by a message from the LCN master, later.
+    return true;
+  }
+
+  // LCN turnouts not saved to EEPROM.
+  //void save() override {  }
+  //static Turnout *load(struct TurnoutData *turnoutData) {
+
+  // Report 1 for thrown, 0 for closed.
+  void LCNTurnout::print(Print *stream) {
+    StringFormatter::send(stream, F("<H %d LCN %d>\n"), _turnoutData.id, 
+    !_turnoutData.closed); 
+  }
+

Turnouts.h

@@ -1,7 +1,13 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Neil McKechnie
+ *  © 2021 M Steve Todd
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  © 2013-2016 Gregg E. Berman
+ *  All rights reserved.
  *  
- *  This file is part of Asbelos DCC API
+ *  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
@@ -17,109 +23,283 @@
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-/* 
- * Turnout data is stored in a structure whose length depends on the
- * type of turnout.  There is a common header of 3 bytes, followed by
- * 2 bytes for DCC turnout, 5 bytes for servo turnout, 2 bytes for a
- * VPIN turnout, or zero bytes for an LCN turnout.
- * The variable length allows the limited space in EEPROM to be used effectively.
- */
+#ifndef TURNOUTS_H
+#define TURNOUTS_H
 
-#ifndef Turnouts_h
-#define Turnouts_h
-
-#include <Arduino.h>
-#include "DCC.h"
-#include "LCN.h"
+//#define EESTOREDEBUG 
+#include "Arduino.h"
 #include "IODevice.h"
+#include "StringFormatter.h"
 
-
-const byte STATUS_ACTIVE=0x80; // Flag as activated in tStatus field
-const byte STATUS_TYPE = 0x7f;  // Mask for turnout type in tStatus field
-
-//  The struct 'header' is used to determine the length of the
-//  overlaid data so must be at least as long as the anonymous fields it
-//  is overlaid with.
-struct TurnoutData {
-  // Header common to all turnouts
-  union {
-    struct {
-      int id;
-      uint8_t tStatus;
-      uint8_t size;
-    } header;
-
-    struct {
-      int id;
-      union {
-        uint8_t tStatus;
-        struct {
-          uint8_t active: 1;
-          uint8_t type: 5;
-          uint8_t :2;
-        };
-      };
-      uint8_t size;  // set to actual total length of used structure
-    };
-  };
-  // Turnout-type-specific structure elements, different length depending
-  //  on turnout type.  This allows the data to be packed efficiently 
-  //  in the EEPROM.
-  union {
-    struct {
-      // DCC address (Address in bits 15-2, subaddress in bits 1-0
-      uint16_t address; // CS currently supports linear address 1-2048
-        // That's DCC accessory address 1-512 and subaddress 0-3.
-    } dccAccessoryData;
-
-    struct {
-      VPIN vpin;
-      uint16_t activePosition : 12;  // 0-4095
-      uint16_t inactivePosition : 12; // 0-4095
-      uint8_t profile;
-    } servoData;
-
-    struct {
-    } lcnData;
-
-    struct {
-      VPIN vpin;
-    } vpinData;
-  };
+// Turnout type definitions
+enum {
+  TURNOUT_DCC = 1,
+  TURNOUT_SERVO = 2,
+  TURNOUT_VPIN = 3,
+  TURNOUT_LCN = 4,
 };
 
+/*************************************************************************************
+ * Turnout - Base class for turnouts.
+ * 
+ *************************************************************************************/
+
 class Turnout {
-public:
-  static Turnout *firstTurnout;
-  static int turnoutlistHash;
-  Turnout *nextTurnout;
-  static Turnout* get(int);
-  static bool remove(int);
-  static bool isClosed(int);
-  static bool setClosed(int n, bool closed);  // return false if not found. 
-  static void setClosedStateOnly(int n, bool closed);
-  int getId();
-  static void load();
-  static void store();
-  static Turnout *createServo(int id , VPIN vpin , uint16_t activeAngle, uint16_t inactiveAngle, uint8_t profile=1, uint8_t initialState=0);
-  static Turnout *createVpin(int id, VPIN vpin, uint8_t initialState=0);
-  static Turnout *createDCC(int id, uint16_t address, uint8_t subAddress);
-  static Turnout *createLCN(int id, uint8_t initialState=0);
-  static Turnout *create(int id, int params, int16_t p[]);
-  static Turnout *create(int id);
-  static void printAll(Print *);
-  void print(Print *stream);
-#ifdef EESTOREDEBUG
-  static void print(Turnout *tt);
-#endif
-private:
-  int num;  // EEPROM address of tStatus in TurnoutData struct, or zero if not stored.
-  TurnoutData data;
-   static bool activate(int n, bool  thrown);
-   static bool isActive(int);
-   bool isActive();
-   void activate(bool state);
-   void setActive(bool state);
-  }; // Turnout
+protected:
+  /* 
+   * Object data
+   */
+
+  // The TurnoutData struct contains data common to all turnout types, that 
+  // is written to EEPROM when the turnout is saved.
+  // The first byte of this struct contains the 'closed' flag which is
+  // updated whenever the turnout changes from thrown to closed and
+  // vice versa.  If the turnout has been saved, then this byte is rewritten
+  // when changed in RAM.  The 'closed' flag must be located in the first byte.
+  struct TurnoutData {
+    union {
+      struct {
+        bool closed : 1;
+        bool _rfu: 2;
+        uint8_t turnoutType : 5;
+      };
+      uint8_t flags;
+    };
+    uint16_t id;
+  } _turnoutData;  // 3 bytes
+
+  // Address in eeprom of first byte of the _turnoutData struct (containing the closed flag).
+  // Set to zero if the object has not been saved in EEPROM, e.g. for newly created Turnouts, and 
+  // for all LCN turnouts.
+  uint16_t _eepromAddress = 0;
+
+  // Pointer to next turnout on linked list.
+  Turnout *_nextTurnout = 0;
+
+  /*
+   * Constructor
+   */
+  Turnout(uint16_t id, uint8_t turnoutType, bool closed) {
+    _turnoutData.id = id;
+    _turnoutData.turnoutType = turnoutType;
+    _turnoutData.closed = closed;
+    add(this);
+  }
+
+  /* 
+   * Static data
+   */ 
+
+  static Turnout *_firstTurnout;
+  static int _turnoutlistHash;
+
+  /* 
+   * Virtual functions
+   */
+
+  virtual bool setClosedInternal(bool close) = 0;  // Mandatory in subclass
+  virtual void save() {}
   
+  /*
+   * Static functions
+   */
+
+  static Turnout *get(uint16_t id);
+
+  static void add(Turnout *tt);
+  
+public:
+  /* 
+   * Static data
+   */
+  static int turnoutlistHash;
+  static const bool useClassicTurnoutCommands;
+  
+  /*
+   * Public base class functions
+   */
+  inline bool isClosed() { return _turnoutData.closed; };
+  inline bool isThrown() { return !_turnoutData.closed; }
+  inline bool isType(uint8_t type) { return _turnoutData.turnoutType == type; }
+  inline uint16_t getId() { return _turnoutData.id; }
+  inline Turnout *next() { return _nextTurnout; }
+  void printState(Print *stream);
+  /* 
+   * Virtual functions
+   */
+  virtual void print(Print *stream) {
+    (void)stream;  // avoid compiler warnings.
+  }
+  virtual ~Turnout() {}   // Destructor
+
+  /*
+   * Public static functions
+   */
+  inline static bool exists(uint16_t id) { return get(id) != 0; }
+
+  static bool remove(uint16_t id);
+
+  static bool isClosed(uint16_t id);
+
+  inline static bool isThrown(uint16_t id) {
+    return !isClosed(id);
+  }
+
+  static bool setClosed(uint16_t id, bool closeFlag);
+
+  inline static bool setClosed(uint16_t id) {
+    return setClosed(id, true);
+  }
+
+  inline static bool setThrown(uint16_t id) {
+    return setClosed(id, false);
+  }
+
+  static bool setClosedStateOnly(uint16_t id, bool close);
+
+  inline static Turnout *first() { return _firstTurnout; }
+
+#ifndef DISABLE_EEPROM
+  // Load all turnout definitions.
+  static void load();
+  // Load one turnout definition
+  static Turnout *loadTurnout();
+  // Save all turnout definitions
+  static void store();
+#endif
+  static void printAll(Print *stream) {
+    for (Turnout *tt = _firstTurnout; tt != 0; tt = tt->_nextTurnout)
+      StringFormatter::send(stream, F("<H %d %d>\n"),tt->getId(), tt->isThrown());
+  }
+
+
+};
+
+
+/*************************************************************************************
+ * ServoTurnout - Turnout controlled by servo device.
+ * 
+ *************************************************************************************/
+class ServoTurnout : public Turnout {
+private:
+  // ServoTurnoutData contains data specific to this subclass that is 
+  // written to EEPROM when the turnout is saved.
+  struct ServoTurnoutData {
+    VPIN vpin;
+    uint16_t closedPosition : 12;
+    uint16_t thrownPosition : 12;
+    uint8_t profile;
+  } _servoTurnoutData; // 6 bytes
+
+  // Constructor
+  ServoTurnout(uint16_t id, VPIN vpin, uint16_t thrownPosition, uint16_t closedPosition, uint8_t profile, bool closed);
+
+public:
+  // Create function
+  static Turnout *create(uint16_t id, VPIN vpin, uint16_t thrownPosition, uint16_t closedPosition, uint8_t profile, bool closed=true);
+
+  // Load a Servo turnout definition from EEPROM.  The common Turnout data has already been read at this point.
+  static Turnout *load(struct TurnoutData *turnoutData);
+  void print(Print *stream) override;
+
+protected:
+  // ServoTurnout-specific code for throwing or closing a servo turnout.
+  bool setClosedInternal(bool close) override;
+  void save() override;
+
+};
+
+/*************************************************************************************
+ * DCCTurnout - Turnout controlled by DCC Accessory Controller.
+ * 
+ *************************************************************************************/
+class DCCTurnout : public Turnout {
+private:
+  // DCCTurnoutData contains data specific to this subclass that is 
+  // written to EEPROM when the turnout is saved.
+  struct DCCTurnoutData {
+    // DCC address (Address in bits 15-2, subaddress in bits 1-0)
+    struct {
+      uint16_t address : 14;
+      uint8_t subAddress : 2;
+    };
+  } _dccTurnoutData; // 2 bytes
+
+  // Constructor
+  DCCTurnout(uint16_t id, uint16_t address, uint8_t subAdd);
+
+public:
+  // Create function
+  static Turnout *create(uint16_t id, uint16_t add, uint8_t subAdd);
+  // Load a VPIN turnout definition from EEPROM.  The common Turnout data has already been read at this point.
+  static Turnout *load(struct TurnoutData *turnoutData);
+  void print(Print *stream) override;
+  // Flag whether DCC Accessory packets are to contain 1=close/0=throw(RCN-213) or 1=throw/0-close (DCC++ Classic)
+  static const bool rcn213Compliant;
+
+protected:
+  bool setClosedInternal(bool close) override;
+  void save() override;
+
+};
+
+
+/*************************************************************************************
+ * VpinTurnout - Turnout controlled through a HAL vpin.
+ * 
+ *************************************************************************************/
+class VpinTurnout : public Turnout {
+private:
+  // VpinTurnoutData contains data specific to this subclass that is 
+  // written to EEPROM when the turnout is saved.
+  struct VpinTurnoutData {
+    VPIN vpin;
+  } _vpinTurnoutData; // 2 bytes
+
+  // Constructor
+ VpinTurnout(uint16_t id, VPIN vpin, bool closed);
+
+public:
+  // Create function
+  static Turnout *create(uint16_t id, VPIN vpin, bool closed=true);
+
+  // Load a VPIN turnout definition from EEPROM.  The common Turnout data has already been read at this point.
+  static Turnout *load(struct TurnoutData *turnoutData);
+  void print(Print *stream) override;
+
+protected:
+  bool setClosedInternal(bool close) override;
+  void save() override;
+
+};
+
+
+/*************************************************************************************
+ * LCNTurnout - Turnout controlled by Loconet
+ * 
+ *************************************************************************************/
+class LCNTurnout : public Turnout {
+private:
+  // LCNTurnout has no specific data, and in any case is not written to EEPROM!
+  // struct LCNTurnoutData {
+  // } _lcnTurnoutData; // 0 bytes
+
+  // Constructor 
+  LCNTurnout(uint16_t id, bool closed);
+
+public:
+  // Create function
+  static Turnout *create(uint16_t id, bool closed=true);
+
+
+  bool setClosedInternal(bool close) override;
+
+  // LCN turnouts not saved to EEPROM.
+  //void save() override {  }
+  //static Turnout *load(struct TurnoutData *turnoutData) {
+
+  void print(Print *stream) override;
+
+};
+
 #endif

WiThrottle.cpp

@@ -1,8 +1,12 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
- *  © 2020, Harald Barth
+ *  © 2021 Neil McKechnie
+ *  © 2021 Mike S
+ *  © 2020-2022 Harald Barth
+ *  © 2020-2021 M Steve Todd
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
- *  This file is part of Asbelos DCC API
+ *  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
@@ -50,7 +54,7 @@
 #include "GITHUB_SHA.h"
 #include "version.h"
 #include "RMFT2.h"
-
+#include "CommandDistributor.h"
 
 #define LOOPLOCOS(THROTTLECHAR, CAB)  for (int loco=0;loco<MAX_MY_LOCO;loco++) \
       if ((myLocos[loco].throttle==THROTTLECHAR || '*'==THROTTLECHAR) && (CAB<0 || myLocos[loco].cab==CAB))
@@ -111,18 +115,18 @@ void WiThrottle::parse(RingStream * stream, byte * cmdx) {
   if (Diag::WITHROTTLE) DIAG(F("%l WiThrottle(%d)<-[%e]"),millis(),clientid,cmd);
 
   if (initSent) {
-    // Send power state if different than last sent
-    bool currentPowerState = (DCCWaveform::mainTrack.getPowerMode()==POWERMODE::ON);
-    if (lastPowerState != currentPowerState) {
-      StringFormatter::send(stream,F("PPA%x\n"),currentPowerState);
-      lastPowerState = currentPowerState;  
-    }
     // Send turnout list if changed since last sent (will replace list on client)
     if (turnoutListHash != Turnout::turnoutlistHash) {
       StringFormatter::send(stream,F("PTL"));
-      for(Turnout *tt=Turnout::firstTurnout;tt!=NULL;tt=tt->nextTurnout){
+      for(Turnout *tt=Turnout::first();tt!=NULL;tt=tt->next()){
           int id=tt->getId();
-          StringFormatter::send(stream,F("]\\[%d}|{%d}|{%c"), id, id, Turnout::isClosed(id)?'2':'4');
+          StringFormatter::send(stream,F("]\\[%d}|{"), id);
+#ifdef RMFT_ACTIVE
+	  RMFT2::emitTurnoutDescription(stream,id);
+#else   
+	  StringFormatter::send(stream,F("%d"), id);
+#endif  
+          StringFormatter::send(stream,F("}|{%c"), Turnout::isClosed(id)?'2':'4');
       }
       StringFormatter::send(stream,F("\n"));
       turnoutListHash = Turnout::turnoutlistHash; // keep a copy of hash for later comparison
@@ -133,100 +137,105 @@ void WiThrottle::parse(RingStream * stream, byte * cmdx) {
       exRailSent=true;
 #ifdef RMFT_ACTIVE
       RMFT2::emitWithrottleRouteList(stream);
-#endif    
+#endif
+      // allow heartbeat to slow down once all metadata sent     
+      StringFormatter::send(stream,F("*%d\n"),HEARTBEAT_SECONDS);
     }
   }
-
-   while (cmd[0]) {
-   switch (cmd[0]) {
-       case '*':  // heartbeat control
-            if (cmd[1]=='+') heartBeatEnable=true;
-            else if (cmd[1]=='-') heartBeatEnable=false;
-            break;
-       case 'P':  
-            if (cmd[1]=='P' && cmd[2]=='A' )  {  //PPA power mode 
-              DCCWaveform::mainTrack.setPowerMode(cmd[3]=='1'?POWERMODE::ON:POWERMODE::OFF);
-	      if (MotorDriver::commonFaultPin) // commonFaultPin prevents individual track handling
-		DCCWaveform::progTrack.setPowerMode(cmd[3]=='1'?POWERMODE::ON:POWERMODE::OFF);
-              StringFormatter::send(stream,F("PPA%x\n"),DCCWaveform::mainTrack.getPowerMode()==POWERMODE::ON);
-              lastPowerState = (DCCWaveform::mainTrack.getPowerMode()==POWERMODE::ON); //remember power state sent for comparison later
-            }
+  
+  while (cmd[0]) {
+    switch (cmd[0]) {
+    case '*':  // heartbeat control
+      if (cmd[1]=='+') heartBeatEnable=true;
+      else if (cmd[1]=='-') heartBeatEnable=false;
+      break;
+    case 'P':  
+      if (cmd[1]=='P' && cmd[2]=='A' )  {  //PPA power mode 
+	DCCWaveform::mainTrack.setPowerMode(cmd[3]=='1'?POWERMODE::ON:POWERMODE::OFF);
+	if (MotorDriver::commonFaultPin) // commonFaultPin prevents individual track handling
+	  DCCWaveform::progTrack.setPowerMode(cmd[3]=='1'?POWERMODE::ON:POWERMODE::OFF);
+	CommandDistributor::broadcastPower();
+      }
 #if defined(RMFT_ACTIVE)
-            else if (cmd[1]=='R' && cmd[2]=='A' && cmd[3]=='2' ) { // Route activate
-              // exrail routes are RA2Rn , Animations are RA2An 
-              int route=getInt(cmd+5);
-              uint16_t cab=cmd[4]=='A' ? mostRecentCab : 0; 
-              RMFT2::createNewTask(route, cab);
-            }
+      else if (cmd[1]=='R' && cmd[2]=='A' && cmd[3]=='2' ) { // Route activate
+	// exrail routes are RA2Rn , Animations are RA2An 
+	int route=getInt(cmd+5);
+	uint16_t cab=cmd[4]=='A' ? mostRecentCab : 0; 
+	RMFT2::createNewTask(route, cab);
+      }
 #endif    
-            else if (cmd[1]=='T' && cmd[2]=='A') { // PTA accessory toggle 
-                int id=getInt(cmd+4); 
-                Turnout * tt=Turnout::get(id);
-                if (!tt) {
-                  // If turnout does not exist, create it
-                  int addr = ((id - 1) / 4) + 1;
-                  int subaddr = (id - 1) % 4;
-                  Turnout::createDCC(id,addr,subaddr);
-                  StringFormatter::send(stream, F("HmTurnout %d created\n"),id);
-                }
-                switch (cmd[3]) {
-		case 'T':
-		  Turnout::setClosed(id,false);
-		  break;
-		case 'C':
-		  Turnout::setClosed(id,true);
-		  break;
-		case '2':
-		  Turnout::setClosed(id,!Turnout::isClosed(id));
-		  break;
-		default :
-		  Turnout::setClosed(id,true);
-		  break;
-                }
-		            StringFormatter::send(stream, F("PTA%c%d\n"),Turnout::isClosed(id)?'2':'4',id );
-		        }
-            break;
-       case 'N':  // Heartbeat (2), only send if connection completed by 'HU' message
-            if (initSent) { 
-              StringFormatter::send(stream, F("*%d\n"),HEARTBEAT_SECONDS); // return timeout value
-            }
-            break;
-       case 'M': // multithrottle
-            multithrottle(stream, cmd); 
-            break;
-       case 'H': // send initial connection info after receiving "HU" message
-            if (cmd[1] == 'U') {
-              StringFormatter::send(stream,F("VN2.0\nHTDCC-EX\nRL0\n"));
-              StringFormatter::send(stream,F("HtDCC-EX v%S, %S, %S, %S\n"), F(VERSION), F(ARDUINO_TYPE), DCC::getMotorShieldName(), F(GITHUB_SHA));
-              StringFormatter::send(stream,F("PTT]\\[Turnouts}|{Turnout]\\[THROW}|{2]\\[CLOSE}|{4\n"));
-              StringFormatter::send(stream,F("PPA%x\n"),DCCWaveform::mainTrack.getPowerMode()==POWERMODE::ON);
-              lastPowerState = (DCCWaveform::mainTrack.getPowerMode()==POWERMODE::ON); //remember power state sent for comparison later
-              StringFormatter::send(stream,F("*%d\n"),HEARTBEAT_SECONDS);
-              initSent = true;
-            }
-            break;           
-      case 'Q': // 
-            LOOPLOCOS('*', -1) { // tell client to drop any locos still assigned to this WiThrottle
-              if (myLocos[loco].throttle!='\0') {
-                StringFormatter::send(stream, F("M%c-%c%d<;>\n"), myLocos[loco].throttle, LorS(myLocos[loco].cab), myLocos[loco].cab);
-              }
-            }
-            if (Diag::WITHROTTLE) DIAG(F("%l WiThrottle(%d) Quit"),millis(),clientid);
-            delete this; 
-            break;           
-   }
-   // skip over cmd until 0 or past \r or \n
-   while(*cmd !='\0' && *cmd != '\r' && *cmd !='\n') cmd++;
-   if (*cmd!='\0') cmd++; // skip \r or \n  
-   }           
-}
-int WiThrottle::getInt(byte * cmd) {
-    int i=0;
-    while (cmd[0]>='0' && cmd[0]<='9') {
-      i=i*10 + (cmd[0]-'0');
-      cmd++;
+      else if (cmd[1]=='T' && cmd[2]=='A') { // PTA accessory toggle 
+	int id=getInt(cmd+4); 
+	if (!Turnout::exists(id)) {
+	  // If turnout does not exist, create it
+	  int addr = ((id - 1) / 4) + 1;
+	  int subaddr = (id - 1) % 4;
+	  DCCTurnout::create(id,addr,subaddr);
+	  StringFormatter::send(stream, F("HmTurnout %d created\n"),id);
+	}
+	switch (cmd[3]) {
+	  // T and C according to RCN-213 where 0 is Stop, Red, Thrown, Diverging.
+	case 'T': 
+	  Turnout::setClosed(id,false);
+	  break;
+	case 'C': 
+	  Turnout::setClosed(id,true);
+	  break;
+	case '2': 
+	  Turnout::setClosed(id,!Turnout::isClosed(id));
+	  break;
+	default :
+	  Turnout::setClosed(id,true);
+	  break;
+	}
+	StringFormatter::send(stream, F("PTA%c%d\n"),Turnout::isClosed(id)?'2':'4',id );
+      }
+      break;
+    case 'N':  // Heartbeat (2), only send if connection completed by 'HU' message
+      if (initSent) { 
+	StringFormatter::send(stream, F("*%d\n"),HEARTBEAT_SECONDS); // return timeout value
+      }
+      break;
+    case 'M': // multithrottle
+      multithrottle(stream, cmd); 
+      break;
+    case 'H': // send initial connection info after receiving "HU" message
+      if (cmd[1] == 'U') {
+	StringFormatter::send(stream,F("VN2.0\nHTDCC-EX\nRL0\n"));
+	StringFormatter::send(stream,F("HtDCC-EX v%S, %S, %S, %S\n"), F(VERSION), F(ARDUINO_TYPE), DCC::getMotorShieldName(), F(GITHUB_SHA));
+	StringFormatter::send(stream,F("PTT]\\[Turnouts}|{Turnout]\\[THROW}|{2]\\[CLOSE}|{4\n"));
+	StringFormatter::send(stream,F("PPA%x\n"),DCCWaveform::mainTrack.getPowerMode()==POWERMODE::ON);
+#ifdef RMFT_ACTIVE
+	RMFT2::emitWithrottleRoster(stream);
+#endif        
+	// set heartbeat to 1 second because we need to sync the metadata
+	StringFormatter::send(stream,F("*1\n"));
+	initSent = true;
+      }
+      break;           
+    case 'Q': // 
+      LOOPLOCOS('*', -1) { // tell client to drop any locos still assigned to this WiThrottle
+	if (myLocos[loco].throttle!='\0') {
+	  StringFormatter::send(stream, F("M%c-%c%d<;>\n"), myLocos[loco].throttle, LorS(myLocos[loco].cab), myLocos[loco].cab);
+	}
+      }
+      if (Diag::WITHROTTLE) DIAG(F("%l WiThrottle(%d) Quit"),millis(),clientid);
+      delete this; 
+      break;           
     }
-    return i;    
+    // skip over cmd until 0 or past \r or \n
+    while(*cmd !='\0' && *cmd != '\r' && *cmd !='\n') cmd++;
+    if (*cmd!='\0') cmd++; // skip \r or \n  
+  }           
+}
+
+int WiThrottle::getInt(byte * cmd) {
+  int i=0;
+  while (cmd[0]>='0' && cmd[0]<='9') {
+    i=i*10 + (cmd[0]-'0');
+    cmd++;
+  }
+  return i;    
 }
 
 int WiThrottle::getLocoId(byte * cmd) {
@@ -236,143 +245,183 @@ int WiThrottle::getLocoId(byte * cmd) {
 }
 
 void WiThrottle::multithrottle(RingStream * stream, byte * cmd){ 
-          char throttleChar=cmd[1];
-          int locoid=getLocoId(cmd+3); // -1 for *
-          byte * aval=cmd;
-          while(*aval !=';' && *aval !='\0') aval++;
-          if (*aval) aval+=2;  // skip ;>
-
-//       DIAG(F("Multithrottle aval=%c cab=%d"), aval[0],locoid);    
-       switch(cmd[2]) {
-          case '+':  // add loco request
-                if (cmd[3]=='*') { 
-                  // M+* means get loco from prog track, then join tracks ready to drive away
-                  // Stash the things the callback will need later
-                  stashStream= stream;
-                  stashClient=stream->peekTargetMark();
-                  stashThrottleChar=throttleChar;
-                  stashInstance=this;
-                  // ask DCC to call us back when the loco id has been read
-                  DCC::getLocoId(getLocoCallback); // will remove any previous join                    
-                  return; // return nothing in stream as response is sent later in the callback 
-                }
-                //return error if address zero requested
-                if (locoid==0) { 
-                  StringFormatter::send(stream, F("HMAddress '0' not supported!\n"), cmd[3] ,locoid);                    
-                  return;
-                }
-                //return error if L or S from request doesn't match DCC++ assumptions
-                if (cmd[3] != LorS(locoid)) { 
-                  StringFormatter::send(stream, F("HMLength '%c' not valid for %d!\n"), cmd[3] ,locoid);                    
-                  return;
-                }
-                //use first empty "slot" on this client's list, will be added to DCC registration list
-                for (int loco=0;loco<MAX_MY_LOCO;loco++) {
-                  if (myLocos[loco].throttle=='\0') { 
-                    myLocos[loco].throttle=throttleChar;
-                    myLocos[loco].cab=locoid;
-                    mostRecentCab=locoid;
-                    StringFormatter::send(stream, F("M%c+%c%d<;>\n"), throttleChar, cmd[3] ,locoid); //tell client to add loco
-                    //Get known Fn states from DCC 
-                    for(int fKey=0; fKey<=28; fKey++) { 
+  char throttleChar=cmd[1];
+  int locoid=getLocoId(cmd+3); // -1 for *
+  byte * aval=cmd;
+  while(*aval !=';' && *aval !='\0') aval++;
+  if (*aval) aval+=2;  // skip ;>
+  
+  //       DIAG(F("Multithrottle aval=%c cab=%d"), aval[0],locoid);    
+  switch(cmd[2]) {
+  case '+':  // add loco request
+    if (cmd[3]=='*') { 
+      // M+* means get loco from prog track, then join tracks ready to drive away
+      // Stash the things the callback will need later
+      stashStream= stream;
+      stashClient=stream->peekTargetMark();
+      stashThrottleChar=throttleChar;
+      stashInstance=this;
+      // ask DCC to call us back when the loco id has been read
+      DCC::getLocoId(getLocoCallback); // will remove any previous join                    
+      return; // return nothing in stream as response is sent later in the callback 
+    }
+    //return error if address zero requested
+    if (locoid==0) { 
+      StringFormatter::send(stream, F("HMAddress '0' not supported!\n"), cmd[3] ,locoid);                    
+      return;
+    }
+    //return error if L or S from request doesn't match DCC++ assumptions
+    if (cmd[3] != LorS(locoid)) { 
+      StringFormatter::send(stream, F("HMLength '%c' not valid for %d!\n"), cmd[3] ,locoid);                    
+      return;
+    }
+    //use first empty "slot" on this client's list, will be added to DCC registration list
+    for (int loco=0;loco<MAX_MY_LOCO;loco++) {
+      if (myLocos[loco].throttle=='\0') { 
+	myLocos[loco].throttle=throttleChar;
+	myLocos[loco].cab=locoid; 
+	myLocos[loco].functionMap=DCC::getFunctionMap(locoid); 
+	myLocos[loco].broadcastPending=true; // means speed/dir will be sent later
+	mostRecentCab=locoid;
+	StringFormatter::send(stream, F("M%c+%c%d<;>\n"), throttleChar, cmd[3] ,locoid); //tell client to add loco
+	int fkeys=29;
+	myLocos[loco].functionToggles=1<<2; // F2 (HORN)  is a non-toggle
+        
+#ifdef RMFT_ACTIVE
+	const char * functionNames=(char *) RMFT2::getRosterFunctions(locoid);
+	if (!functionNames) {
+	  // no roster, use presets as above 
+	}
+	else if (GETFLASH(functionNames)=='\0') {
+	  // "" = Roster but no functions given
+	  fkeys=0;
+	}  
+	else {
+	  // we have function names... 
+	  // scan names list emitting names, counting functions and 
+	  // flagging non-toggling things like horn.
+	  myLocos[loco].functionToggles =0;
+	  StringFormatter::send(stream, F("M%cL%c%d<;>]\\["), throttleChar,cmd[3],locoid);   
+	  fkeys=0;
+	  bool firstchar=true;
+	  for (int fx=0;;fx++) {
+	    char c=GETFLASH(functionNames+fx);
+	    if (c=='\0') {
+	      fkeys++;
+	      break;
+	    }
+	    if (c=='/') {
+	      fkeys++;
+	      StringFormatter::send(stream,F("]\\["));
+	      firstchar=true;
+	    }
+	    else if (firstchar && c=='*') {
+	      myLocos[loco].functionToggles |= 1UL<<fkeys;
+	      firstchar=false;
+	    } 
+	    else {
+	      firstchar=false;
+	      stream->write(c);
+	    }
+	  }
+	  StringFormatter::send(stream,F("\n"));
+	}
+        
+#endif
+	
+	for(int fKey=0; fKey<fkeys; fKey++) { 
                       int fstate=DCC::getFn(locoid,fKey);
-                        if (fstate>=0) StringFormatter::send(stream,F("M%cA%c%d<;>F%d%d\n"),throttleChar,cmd[3],locoid,fstate,fKey);                     
-                    }
-                    StringFormatter::send(stream, F("M%cA%c%d<;>V%d\n"), throttleChar, cmd[3], locoid, DCCToWiTSpeed(DCC::getThrottleSpeed(locoid)));
-                    StringFormatter::send(stream, F("M%cA%c%d<;>R%d\n"), throttleChar, cmd[3], locoid, DCC::getThrottleDirection(locoid));
-                    StringFormatter::send(stream, F("M%cA%c%d<;>s1\n"), throttleChar, cmd[3], locoid); //default speed step 128
-                    return;
-                  }
-               }
-               StringFormatter::send(stream, F("HMMax locos (%d) exceeded, %d not added!\n"), MAX_MY_LOCO ,locoid);                    
-               break;
-          case '-': // remove loco(s) from this client (leave in DCC registration)
-                 LOOPLOCOS(throttleChar, locoid) {
-                     myLocos[loco].throttle='\0';
-                     StringFormatter::send(stream, F("M%c-%c%d<;>\n"), throttleChar, LorS(myLocos[loco].cab), myLocos[loco].cab);
-                  }
-            
-            break;
-          case 'A':
-              locoAction(stream,aval, throttleChar, locoid);
-            }
+                      if (fstate>=0) StringFormatter::send(stream,F("M%cA%c%d<;>F%d%d\n"),throttleChar,cmd[3],locoid,fstate,fKey);                     
+	}
+	//speed and direction will be published at next broadcast cycle
+	StringFormatter::send(stream, F("M%cA%c%d<;>s1\n"), throttleChar, cmd[3], locoid); //default speed step 128
+	return;
+      }
+    }
+    StringFormatter::send(stream, F("HMMax locos (%d) exceeded, %d not added!\n"), MAX_MY_LOCO ,locoid);                    
+    break;
+  case '-': // remove loco(s) from this client (leave in DCC registration)
+    LOOPLOCOS(throttleChar, locoid) {
+      myLocos[loco].throttle='\0';
+      StringFormatter::send(stream, F("M%c-%c%d<;>\n"), throttleChar, LorS(myLocos[loco].cab), myLocos[loco].cab);
+    }
+    
+    break;
+  case 'A':
+    locoAction(stream,aval, throttleChar, locoid);
+  }
 }
 
 void WiThrottle::locoAction(RingStream * stream, byte* aval, char throttleChar, int cab){
-    // Note cab=-1 for all cabs in the consist called throttleChar.  
-//    DIAG(F("Loco Action aval=%c%c throttleChar=%c, cab=%d"), aval[0],aval[1],throttleChar, cab);
-     switch (aval[0]) {
-           case 'V':  // Vspeed
-             { 
-              int witSpeed=getInt(aval+1);
-              LOOPLOCOS(throttleChar, cab) {
-                mostRecentCab=myLocos[loco].cab;
-                DCC::setThrottle(myLocos[loco].cab, WiTToDCCSpeed(witSpeed), DCC::getThrottleDirection(myLocos[loco].cab));
-                StringFormatter::send(stream,F("M%cA%c%d<;>V%d\n"), throttleChar, LorS(myLocos[loco].cab), myLocos[loco].cab, witSpeed);
-                }
-             } 
-            break;
-           case 'F': //F onOff function
-              {
-		            bool funcstate;
-                bool pressed=aval[1]=='1';
-                int fKey = getInt(aval+2);
-                LOOPLOCOS(throttleChar, cab) {
-		              funcstate = DCC::changeFn(myLocos[loco].cab, fKey, pressed);
-		              if(funcstate==0 || funcstate==1)
-			              StringFormatter::send(stream,F("M%cA%c%d<;>F%d%d\n"), throttleChar, LorS(myLocos[loco].cab), 
-						          myLocos[loco].cab, funcstate, fKey);
-		              }
-                }
-                break;  
-            case 'q':
-                if (aval[1]=='V') {   //qV
-                  LOOPLOCOS(throttleChar, cab) {              
-                    StringFormatter::send(stream,F("M%cA%c%d<;>V%d\n"), throttleChar, LorS(myLocos[loco].cab), myLocos[loco].cab, DCCToWiTSpeed(DCC::getThrottleSpeed(myLocos[loco].cab)));
-                  }              
-                }
-                else if (aval[1]=='R') { // qR
-                  LOOPLOCOS(throttleChar, cab) {              
-                    StringFormatter::send(stream,F("M%cA%c%d<;>R%d\n"), throttleChar, LorS(myLocos[loco].cab), myLocos[loco].cab, DCC::getThrottleDirection(myLocos[loco].cab));
-                  }             
-                }     
-            break;    
-            case 'R':
-            { 
-              bool forward=aval[1]!='0';
-              LOOPLOCOS(throttleChar, cab) {
-                mostRecentCab=myLocos[loco].cab;
-                DCC::setThrottle(myLocos[loco].cab, DCC::getThrottleSpeed(myLocos[loco].cab), forward);
-                StringFormatter::send(stream,F("M%cA%c%d<;>R%d\n"), throttleChar, LorS(myLocos[loco].cab), myLocos[loco].cab, forward);
-              }
-            }        
-            break;      
-            case 'X':
-              //Emergency Stop  (speed code 1)
-              LOOPLOCOS(throttleChar, cab) {
-                DCC::setThrottle(myLocos[loco].cab, 1, DCC::getThrottleDirection(myLocos[loco].cab));
-                StringFormatter::send(stream,F("M%cA%c%d<;>V%d\n"), throttleChar, LorS(myLocos[loco].cab), myLocos[loco].cab, -1);
-              }
-              break;
-            case 'I': // Idle, set speed to 0
-            case 'Q': // Quit, set speed to 0
-              LOOPLOCOS(throttleChar, cab) {
-                mostRecentCab=myLocos[loco].cab;
-                DCC::setThrottle(myLocos[loco].cab, 0, DCC::getThrottleDirection(myLocos[loco].cab));
-                StringFormatter::send(stream,F("M%cA%c%d<;>V%d\n"), throttleChar, LorS(myLocos[loco].cab), myLocos[loco].cab, 0);
-              }
-              break;
-            }               
+  // Note cab=-1 for all cabs in the consist called throttleChar.  
+  //    DIAG(F("Loco Action aval=%c%c throttleChar=%c, cab=%d"), aval[0],aval[1],throttleChar, cab);
+  (void) stream;
+  switch (aval[0]) {
+  case 'V':  // Vspeed
+    { 
+      int witSpeed=getInt(aval+1);
+      LOOPLOCOS(throttleChar, cab) {
+	mostRecentCab=myLocos[loco].cab;
+	DCC::setThrottle(myLocos[loco].cab, WiTToDCCSpeed(witSpeed), DCC::getThrottleDirection(myLocos[loco].cab));
+	// SetThrottle will cause speed change broadcast
+      }
+    } 
+    break;
+  case 'F': // Function key pressed/released
+    {  
+      bool pressed=aval[1]=='1';
+      int fKey = getInt(aval+2);
+      LOOPLOCOS(throttleChar, cab) {
+	bool unsetOnRelease = myLocos[loco].functionToggles & (1L<<fKey);
+	if (unsetOnRelease) DCC::setFn(myLocos[loco].cab,fKey, pressed);
+	else if (pressed)  DCC::changeFn(myLocos[loco].cab, fKey);
+      }
+      break;  
+    }
+  case 'q':
+    if (aval[1]=='V' || aval[1]=='R' ) {   //qV or qR
+      // just flag the loco for broadcast and it will happen.
+      LOOPLOCOS(throttleChar, cab) {              
+	myLocos[loco].broadcastPending=true;
+      }                           
+    }     
+    break;    
+  case 'R':
+    { 
+      bool forward=aval[1]!='0';
+      LOOPLOCOS(throttleChar, cab) {
+	mostRecentCab=myLocos[loco].cab;
+	DCC::setThrottle(myLocos[loco].cab, DCC::getThrottleSpeed(myLocos[loco].cab), forward);
+	// setThrottle will cause a broadcast so notification will be sent
+      }
+    }        
+    break;      
+  case 'X':
+    //Emergency Stop  (speed code 1)
+    LOOPLOCOS(throttleChar, cab) {
+      DCC::setThrottle(myLocos[loco].cab, 1, DCC::getThrottleDirection(myLocos[loco].cab));
+      // setThrottle will cause a broadcast so notification will be sent
+    }
+    break;
+  case 'I': // Idle, set speed to 0
+  case 'Q': // Quit, set speed to 0
+    LOOPLOCOS(throttleChar, cab) {
+      mostRecentCab=myLocos[loco].cab;
+      DCC::setThrottle(myLocos[loco].cab, 0, DCC::getThrottleDirection(myLocos[loco].cab));
+      // setThrottle will cause a broadcast so notification will be sent
+    }
+    break;
+  }               
 }
 
-  // convert between DCC++ speed values and WiThrottle speed values
+// convert between DCC++ speed values and WiThrottle speed values
 int WiThrottle::DCCToWiTSpeed(int DCCSpeed) {
   if (DCCSpeed == 0) return 0; //stop is stop
   if (DCCSpeed == 1) return -1; //eStop value
   return DCCSpeed - 1; //offset others by 1
 }
 
-  // convert between WiThrottle speed values and DCC++ speed values
+// convert between WiThrottle speed values and DCC++ speed values
 int WiThrottle::WiTToDCCSpeed(int WiTSpeed) {
   if (WiTSpeed == 0) return 0;  //stop is stop
   if (WiTSpeed == -1) return 1; //eStop value
@@ -380,24 +429,17 @@ int WiThrottle::WiTToDCCSpeed(int WiTSpeed) {
 }
 
 void WiThrottle::loop(RingStream * stream) {
-  // for each WiThrottle, check the heartbeat
+  // for each WiThrottle, check the heartbeat and broadcast needed
   for (WiThrottle* wt=firstThrottle; wt!=NULL ; wt=wt->nextThrottle) 
-     wt->checkHeartbeat();
-
-   // TODO... any broadcasts to be done 
-   (void)stream; 
-   /* MUST follow this model in  this loop. 
-    *   stream->mark();
-    *   send 1 digit client id, and any data 
-    *   stream->commit() 
-     */
+    wt->checkHeartbeat(stream);
+  
 
 }
 
-void WiThrottle::checkHeartbeat() {
+void WiThrottle::checkHeartbeat(RingStream * stream) {
   // if eStop time passed... eStop any locos still assigned to this client and then drop the connection
   if(heartBeatEnable && (millis()-heartBeat > ESTOP_SECONDS*1000)) {
-  if (Diag::WITHROTTLE)  DIAG(F("%l WiThrottle(%d) eStop(%ds) timeout, drop connection"), millis(), clientid, ESTOP_SECONDS);
+    if (Diag::WITHROTTLE)  DIAG(F("%l WiThrottle(%d) eStop(%ds) timeout, drop connection"), millis(), clientid, ESTOP_SECONDS);
     LOOPLOCOS('*', -1) { 
       if (myLocos[loco].throttle!='\0') {
         if (Diag::WITHROTTLE) DIAG(F("%l  eStopping cab %d"),millis(),myLocos[loco].cab);
@@ -405,15 +447,65 @@ void WiThrottle::checkHeartbeat() {
       }
     }
     delete this;
-   }
+    return;
+  }
+   
+   // send any outstanding speed/direction/function changes for this clients locos
+   // Changes may have been caused by this client, or another non-Withrottle or Exrail
+  bool streamHasBeenMarked=false; 
+  LOOPLOCOS('*', -1) { 
+    if (myLocos[loco].throttle!='\0' && myLocos[loco].broadcastPending) {
+      if (!streamHasBeenMarked) {
+	stream->mark(clientid);
+	streamHasBeenMarked=true;
+      }
+      myLocos[loco].broadcastPending=false;
+      int cab=myLocos[loco].cab;
+      char lors=LorS(cab);
+      char throttle=myLocos[loco].throttle;
+      StringFormatter::send(stream,F("M%cA%c%d<;>V%d\n"),
+			    throttle, lors , cab, DCCToWiTSpeed(DCC::getThrottleSpeed(cab)));
+      StringFormatter::send(stream,F("M%cA%c%d<;>R%d\n"), 
+			    throttle, lors , cab, DCC::getThrottleDirection(cab));
+      
+      // compare the DCC functionmap with the local copy and send changes  
+      uint32_t dccFunctionMap=DCC::getFunctionMap(cab);
+      uint32_t myFunctionMap=myLocos[loco].functionMap;
+      myLocos[loco].functionMap=dccFunctionMap;
+      
+      // loop the maps sending any bit changed
+      // Loop is terminated as soon as no changes are left
+      for (byte fn=0;dccFunctionMap!=myFunctionMap;fn++) {
+	if ((dccFunctionMap&1) != (myFunctionMap&1)) {
+	  StringFormatter::send(stream,F("M%cA%c%d<;>F%c%d\n"),
+				throttle, lors , cab, (dccFunctionMap&1)?'1':'0',fn);
+	} 
+	// shift just checked bit off end of both maps
+	dccFunctionMap>>=1;
+	myFunctionMap>>=1;
+      } 
+    }
+    }
+  if (streamHasBeenMarked)   stream->commit();     
 }
 
+void WiThrottle::markForBroadcast(int cab) {
+  for (WiThrottle* wt=firstThrottle; wt!=NULL ; wt=wt->nextThrottle) 
+      wt->markForBroadcast2(cab);
+}
+void WiThrottle::markForBroadcast2(int cab) {
+  LOOPLOCOS('*', cab) { 
+    myLocos[loco].broadcastPending=true;
+  }
+}
+
+
 char WiThrottle::LorS(int cab) {
-    return (cab<127)?'S':'L';
+  return (cab<=HIGHEST_SHORT_ADDR)?'S':'L';
 }
 
 // Drive Away feature. Callback handling
- 
+
 RingStream * WiThrottle::stashStream;
 WiThrottle * WiThrottle::stashInstance;
 byte         WiThrottle::stashClient;
@@ -421,13 +513,26 @@ char         WiThrottle::stashThrottleChar;
 
 void WiThrottle::getLocoCallback(int16_t locoid) {
   stashStream->mark(stashClient);
-  if (locoid<0) StringFormatter::send(stashStream,F("HMNo loco found on prog track\n"));
+  
+  if (locoid<=0)
+    StringFormatter::send(stashStream,F("HMNo loco found on prog track\n"));
   else {
-    char addcmd[20]={'M',stashThrottleChar,'+',LorS(locoid) };
-    itoa(locoid,addcmd+4,10);
-    stashInstance->multithrottle(stashStream, (byte *)addcmd);
-    DCCWaveform::progTrack.setPowerMode(POWERMODE::ON);
-    DCC::setProgTrackSyncMain(true);  // <1 JOIN> so we can drive loco away
+    // short or long
+    char addrchar;
+    if (locoid & LONG_ADDR_MARKER) { // long addr
+      locoid = locoid ^ LONG_ADDR_MARKER;
+      addrchar = 'L';
+    } else
+      addrchar = 'S';
+    if (addrchar == 'L' && locoid <= HIGHEST_SHORT_ADDR )
+      StringFormatter::send(stashStream,F("HMLong addr %d <= %d not supported\n"), locoid,HIGHEST_SHORT_ADDR);
+    else {
+      char addcmd[20]={'M',stashThrottleChar,'+', addrchar};
+      itoa(locoid,addcmd+4,10);
+      stashInstance->multithrottle(stashStream, (byte *)addcmd);
+      DCCWaveform::progTrack.setPowerMode(POWERMODE::ON);
+      DCC::setProgTrackSyncMain(true);  // <1 JOIN> so we can drive loco away
+    }
   }
   stashStream->commit();
 }

WiThrottle.h

@@ -1,5 +1,7 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2021 Mike S
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *
@@ -24,6 +26,9 @@
 struct MYLOCO {
     char throttle; //indicates which throttle letter on client, often '0','1' or '2'
     int cab; //address of this loco
+    bool broadcastPending;
+    uint32_t functionMap;
+    uint32_t functionToggles;
 };
 
 class WiThrottle {
@@ -31,14 +36,15 @@ class WiThrottle {
     static void loop(RingStream * stream);
     void parse(RingStream * stream, byte * cmd);
     static WiThrottle* getThrottle( int wifiClient); 
-    
+    static void markForBroadcast(int cab);
+      
   private: 
     WiThrottle( int wifiClientId);
     ~WiThrottle();
    
       static const int MAX_MY_LOCO=10;      // maximum number of locos assigned to a single client
-      static const int HEARTBEAT_SECONDS=4; // heartbeat at 4secs to provide messaging transport
-      static const int ESTOP_SECONDS=8;     // eStop if no incoming messages for more than 8secs
+      static const int HEARTBEAT_SECONDS=10; // heartbeat at 4secs to provide messaging transport
+      static const int ESTOP_SECONDS=20;     // eStop if no incoming messages for more than 8secs
       static WiThrottle* firstThrottle;
       static int getInt(byte * cmd);
       static int getLocoId(byte * cmd);
@@ -62,8 +68,8 @@ class WiThrottle {
       void multithrottle(RingStream * stream, byte * cmd);
       void locoAction(RingStream * stream, byte* aval, char throttleChar, int cab);
       void accessory(RingStream *, byte* cmd);
-      void checkHeartbeat(); 
-
+      void checkHeartbeat(RingStream * stream); 
+      void markForBroadcast2(int cab);
        // callback stuff to support prog track acquire
        static RingStream * stashStream;
        static WiThrottle * stashInstance;

WifiInboundHandler.cpp

@@ -1,4 +1,7 @@
 /*
+ *  © 2021 Fred Decker
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Chris Harlow
  *  © 2020, Chris Harlow. All rights reserved.
  *  © 2020, Harald Barth.
  *  
@@ -152,7 +155,7 @@ WifiInboundHandler::INBOUND_STATE WifiInboundHandler::loop2() {
         if (ch=='E' || ch=='l') { // ERROR or "link is not valid"
           if (clientPendingCIPSEND>=0) {
             // A CIPSEND was errored... just toss it away
-            purgeCurrentCIPSEND();  
+            purgeCurrentCIPSEND(); 
           }
           loopState=SKIPTOEND; 
           break; 
@@ -231,6 +234,7 @@ WifiInboundHandler::INBOUND_STATE WifiInboundHandler::loop2() {
         if (ch=='C') {
          // got "x C" before CLOSE or CONNECTED, or CONNECT FAILED
          if (runningClientId==clientPendingCIPSEND) purgeCurrentCIPSEND();
+         else CommandDistributor::forget(runningClientId);
         }
         loopState=SKIPTOEND;   
         break;
@@ -245,8 +249,9 @@ WifiInboundHandler::INBOUND_STATE WifiInboundHandler::loop2() {
 
 void WifiInboundHandler::purgeCurrentCIPSEND() {
          // A CIPSEND was sent but errored... or the client closed just toss it away
+         CommandDistributor::forget(clientPendingCIPSEND); 
          DIAG(F("Wifi: DROPPING CIPSEND=%d,%d"),clientPendingCIPSEND,currentReplySize);
-         for (int i=0;i<=currentReplySize;i++) outboundRing->read();
+         for (int i=0;i<currentReplySize;i++) outboundRing->read();
          pendingCipsend=false;  
          clientPendingCIPSEND=-1;
 }

WifiInboundHandler.h

@@ -1,4 +1,6 @@
 /*
+ *  © 2021 Harald Barth
+ *  © 2021 Fred Decker
  *  (c) 2021 Fred Decker.  All rights reserved.
  *  (c) 2020 Chris Harlow. All rights reserved.
  *

WifiInterface.cpp

@@ -1,22 +1,24 @@
 /*
-    © 2020, Chris Harlow. All rights reserved.
-    © 2020, Harald Barth.
-
-    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/>.
-*/
+ *  © 2021 Fred Decker
+ *  © 2020-2022 Harald Barth
+ *  © 2020-2022 Chris Harlow
+ *  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 ARDUINO_AVR_UNO_WIFI_REV2
 // This code is NOT compiled on a unoWifiRev2 processor which uses a different architecture 
 #include "WifiInterface.h"        /* config.h included there */
@@ -75,13 +77,13 @@ bool WifiInterface::setup(long serial_link_speed,
   (void) channel;
 #endif  
   
-#if NUM_SERIAL > 0
+#if NUM_SERIAL > 0 && !defined(SERIAL1_COMMANDS)
   Serial1.begin(serial_link_speed);
   wifiUp = setup(Serial1, wifiESSID, wifiPassword, hostname, port, channel);
 #endif
 
 // Other serials are tried, depending on hardware.
-#if NUM_SERIAL > 1
+#if NUM_SERIAL > 1 && !defined(SERIAL2_COMMANDS)
   if (wifiUp == WIFI_NOAT)
   {
     Serial2.begin(serial_link_speed);
@@ -89,7 +91,7 @@ bool WifiInterface::setup(long serial_link_speed,
   }
 #endif
   
-#if NUM_SERIAL > 2
+#if NUM_SERIAL > 2 && !defined(SERIAL3_COMMANDS)
   if (wifiUp == WIFI_NOAT)
   {
     Serial3.begin(serial_link_speed);
@@ -277,10 +279,16 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
 
   StringFormatter::send(wifiStream, F("AT+CIPSERVER=0\r\n")); // turn off tcp server (to clean connections before CIPMUX=1)
   checkForOK(1000, true); // ignore result in case it already was off
-   
+
   StringFormatter::send(wifiStream, F("AT+CIPMUX=1\r\n")); // configure for multiple connections
   if (!checkForOK(1000, true)) return WIFI_DISCONNECTED;
 
+  if(!oldCmd) {                                                                    // no idea to test this on old firmware
+    StringFormatter::send(wifiStream, F("AT+MDNS=1,\"%S\",\"withrottle\",%d\r\n"),
+			  hostname, port);                                         // mDNS responder
+    checkForOK(1000, true);                                                        // dont care if not supported
+  }
+
   StringFormatter::send(wifiStream, F("AT+CIPSERVER=1,%d\r\n"), port); // turn on server on port
   if (!checkForOK(1000, true)) return WIFI_DISCONNECTED;
 #endif //DONT_TOUCH_WIFI_CONF
@@ -316,19 +324,45 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
 
 
 // This function is used to allow users to enter <+ commands> through the DCCEXParser
+// <+command>  sends AT+command to the ES and returns to the caller.
 // Once the user has made whatever changes to the AT commands, a <+X> command can be used
 // to force on the connectd flag so that the loop will start picking up wifi traffic.
 // If the settings are corrupted <+RST> will clear this and then you must restart the arduino.
+
+// Using the <+> command with no command string causes the code to enter an echo loop so that all
+// input is directed to the ES and all ES output written to the USB Serial.
+// The sequence "!!!" returns the Arduino to the normal loop mode
+
  
-void WifiInterface::ATCommand(const byte * command) {
+void WifiInterface::ATCommand(HardwareSerial * stream,const byte * command) {
   command++;
+  if (*command=='\0') { // User gave <+> command  
+    stream->print(F("\nES AT command passthrough mode, use ! to exit\n"));
+    while(stream->available()) stream->read(); // Drain serial input first 
+    bool startOfLine=true;
+    while(true) {
+      while (wifiStream->available()) stream->write(wifiStream->read());
+      if (stream->available()) {
+        int cx=stream->read();
+        // A newline followed by !!! is an exit
+        if (cx=='\n' || cx=='\r') startOfLine=true; 
+        else if (startOfLine && cx=='!')  break;
+        else startOfLine=false; 
+        stream->write(cx);
+        wifiStream->write(cx);  
+      }
+    }
+    stream->print(F("Passthrough Ended"));
+    return; 
+  }
+  
   if (*command=='X') {
-     connected = true;
-     DIAG(F("++++++ Wifi Connction forced on ++++++++"));
+    connected = true;
+    DIAG(F("++++++ Wifi Connction forced on ++++++++"));
   }
   else {
-        StringFormatter::  send(wifiStream, F("AT+%s\r\n"), command);
-        checkForOK(10000,  true);
+    StringFormatter::  send(wifiStream, F("AT+%s\r\n"), command);
+    checkForOK(10000,  true);
   }
 }
 

WifiInterface.h

@@ -1,7 +1,8 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2020-2021 Chris Harlow
  *  © 2020, Harald Barth.
- *  
+ *  All rights reserved.
+ *
  *  This file is part of CommandStation-EX
  *
  *  This is free software: you can redistribute it and/or modify
@@ -37,7 +38,7 @@ public:
                           const int port,
                           const byte channel);
   static void loop();
-  static void ATCommand(const byte *command);
+  static void ATCommand(HardwareSerial * stream,const byte *command);
   
 private:
   static wifiSerialState setup(Stream &setupStream, const FSH *SSSid, const FSH *password,

config.example.h

@@ -1,5 +1,8 @@
 /*
- *  COPYRIGHT (c) 2020 Fred Decker
+ *  © 2021 Neil McKechnie
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Fred Decker
+ *  © 2020-2021 Chris Harlow
  *  
  *  This file is part of CommandStation-EX
  *
@@ -114,11 +117,11 @@ The configuration file for DCC-EX Command Station
 // DEFINE LCD SCREEN USAGE BY THE BASE STATION
 //
 // Note: This feature requires an I2C enabled LCD screen using a Hitachi HD44780
-//       controller and a PCF8574 based I2C 'backpack'.
+//       controller and a commonly available PCF8574 based I2C 'backpack'.
 // To enable, uncomment one of the #define lines below
 
-// define LCD_DRIVER for I2C LCD address 0x3f,16 cols, 2 rows
-// #define LCD_DRIVER  0x3F,16,2
+// define LCD_DRIVER for I2C address 0x27, 16 cols, 2 rows
+// #define LCD_DRIVER  0x27,16,2
 
 //OR define OLED_DRIVER width,height in pixels (address auto detected)
 // 128x32 or 128x64 I2C SSD1306-based devices are supported.
@@ -128,18 +131,66 @@ The configuration file for DCC-EX Command Station
 // Define scroll mode as 0, 1 or 2
 #define SCROLLMODE 1
 
+/////////////////////////////////////////////////////////////////////////////////////
+// DISABLE EEPROM
+//
+// If you do not need the EEPROM at all, you can disable all the code that saves
+// data in the EEPROM. You might want to do that if you are in a Arduino UNO
+// and want to use the EX-RAIL automation. Otherwise you do not have enough RAM
+// to do that. Of course, then none of the EEPROM related commands works.
+//
+// #define DISABLE_EEPROM
+
+/////////////////////////////////////////////////////////////////////////////////////
+// REDEFINE WHERE SHORT/LONG ADDR break is. According to NMRA the last short address
+// is 127 and the first long address is 128. There are manufacturers which have
+// another view. Lenz CS for example have considered addresses long from 100. If
+// you want to change to that mode, do 
+//#define HIGHEST_SHORT_ADDR 99
+// If you want to run all your locos addressed long format, you could even do a 
+//#define HIGHEST_SHORT_ADDR 0
+// We do not support to use the same address, for example 100(long) and 100(short)
+// at the same time, there must be a border.
+
 /////////////////////////////////////////////////////////////////////////////////////
 //
 // DEFINE TURNOUTS/ACCESSORIES FOLLOW NORM RCN-213
 //
-// According to norm RCN-213 a DCC packet with an 1 is closed/straight
-// and one with a 0 is thrown/diverging. This is reversed to the
-// definition from DCC++ in the DCC++ protocol. To make the states
-// match with the norm, we need to reverse the bit in the DCC packet
-// on the rails, but we don't want to cause havoc on existent layouts,
-// so we define this only for new installations. For any new install
-// there is no reason to not define this.
-#define TURNOUTS_RCN_213
+// According to norm RCN-213 a DCC packet with a 1 is closed/straight
+// and one with a 0 is thrown/diverging.  In DCC++ Classic, and in previous
+// versions of DCC++EX, a turnout throw command was implemented in the packet as 
+// '1' and a close command as '0'. The #define below makes the states
+// match with the norm.  But we don't want to cause havoc on existent layouts,
+// so we define this only for new installations. If you don't want this,
+// don't add it to your config.h.
+//#define DCC_TURNOUTS_RCN_213
+
+// By default, the driver which defines a DCC accessory decoder
+// does send out the same state change on the DCC packet as it
+// receives. This means a VPIN state=1 sends D=1 (close turnout
+// or signal green) in the DCC packet. This can be reversed if
+// necessary.
+//#define HAL_ACCESSORY_COMMAND_REVERSE
+
+// If you have issues with that the direction of the accessory commands is
+// reversed (for example when converting from another CS to DCC-EX) then
+// you can use this to revese the sense of all accessory commmands sent
+// over DCC++. This #define likewise inverts the behaviour of the <a> command
+// for triggering DCC Accessory Decoders, so that <a addr subaddr 0> generates a
+// DCC packet with D=1 (close turnout) and <a addr subaddr 1> generates D=0 
+// (throw turnout).
+//#define DCC_ACCESSORY_RCN_213
+//
+// HANDLING MULTIPLE SERIAL THROTTLES
+// The command station always operates with the default Serial port.
+// Diagnostics are only emitted on the default serial port and not broadcast.
+// Other serial throttles may be added to the Serial1, Serial2, Serial3 ports
+// which may or may not exist on your CPU. (Mega has all 3)
+// To monitor a throttle on one or more serial ports, uncomment the defines below.
+// NOTE: do not define here the WiFi shield serial port or your wifi will not work.
+//
+//#define SERIAL1_COMMAND  
+//#define SERIAL2_COMMAND  
+//#define SERIAL3_COMMAND  
 
 /////////////////////////////////////////////////////////////////////////////////////
-

defines.h

@@ -1,22 +1,39 @@
 /*
-    © 2020, Harald Barth.
+ *  © 2021 Neil McKechnie
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2020-2021 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *
+ *  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/>.
+ *
+ */
 
-    This file is part of CommandStation-EX
+#ifndef DEFINES_H
+#define DEFINES_H
 
-    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/>.
-
-*/
+// defines.h relies on macros defined in config.h
+// but it may have already been included (for cosmetic convenence) by the .ino
+#ifndef MOTOR_SHIELD_TYPE
+  #if __has_include ( "config.h")
+    #include "config.h"
+  #else
+    #include "config.example.h"
+  #endif
+#endif
 
 ////////////////////////////////////////////////////////////////////////////////
 //
@@ -26,19 +43,29 @@
 #if (defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_SAMD_ZERO)  || defined(TEENSYDUINO))
  #define BIG_RAM
 #endif 
-#if ENABLE_WIFI && defined(BIG_RAM)
-#define WIFI_ON true
-#ifndef WIFI_CHANNEL
-#define WIFI_CHANNEL 1
-#endif
+#if ENABLE_WIFI
+  #if defined(BIG_RAM)
+    #define WIFI_ON true
+    #ifndef WIFI_CHANNEL
+      #define WIFI_CHANNEL 1
+    #endif
+  #else
+    #define WIFI_WARNING
+    #define WIFI_ON false
+  #endif
 #else
-#define WIFI_ON false
+  #define WIFI_ON false
 #endif
 
-#if ENABLE_ETHERNET && defined(BIG_RAM)
-#define ETHERNET_ON true
+#if ENABLE_ETHERNET
+  #if defined(BIG_RAM)
+    #define ETHERNET_ON true
+  #else
+    #define ETHERNET_WARNING
+    #define ETHERNET_ON false
+  #endif
 #else
-#define ETHERNET_ON false
+  #define ETHERNET_ON false
 #endif
 
 #if WIFI_ON && ETHERNET_ON
@@ -52,6 +79,12 @@
 //
 #define WIFI_SERIAL_LINK_SPEED 115200
 
-#if __has_include ( "myAutomation.h") && defined(BIG_RAM)
-  #define RMFT_ACTIVE
+#if __has_include ( "myAutomation.h")
+  #if defined(BIG_RAM) || defined(DISABLE_EEPROM)
+    #define RMFT_ACTIVE
+  #else
+    #define EXRAIL_WARNING
+  #endif
+#endif
+
 #endif

freeMemory.cpp

@@ -1,6 +1,7 @@
 /*
- *  © 2020, Harald Barth
- *  © 2021, Neil McKechnie
+ *  © 2021 Neil McKechnie
+ *  © 2021 Mike S
+ *  © 2020 Harald Barth
  *  
  *  This file is part of Asbelos DCC-EX
  *

freeMemory.h

@@ -1,6 +1,6 @@
 /*
- *  © 2020, Harald Barth
- *  © 2021, Neil McKechnie
+ *  © 2021 Neil McKechnie
+ *  © 2020 Harald Barth
  *  
  *  This file is part of DCC-EX
  *

myAutomation2.h

@@ -0,0 +1,192 @@
+
+/* This is an automation example file.
+ *  The presence of a file calle "myAutomation.h" brings EX-RAIL code into
+ *  the command station.
+ *  The auotomation may have multiple concurrent tasks. 
+ *  A task may drive one loco through a ROUTE or may simply 
+ *  automate some other part of the layout without any loco.
+ *  
+ *  At startup, a single task is created to execute the first 
+ *  instruction after ROUTES. 
+ *  This task may simply follow a route, or may SCHEDULE  
+ *  further tasks (thats is.. send a loco out along a route).
+ *  
+ *  Where the loco id is not known at compile time, a new task 
+ *  can be creatd with the command:
+ *  </ SCHEDULE [cab] route> 
+ *  
+ */
+
+// Include the name to pin mappings for my layout 
+#include "myLayout.h"
+
+ALIAS(ROUTE_1,1)
+ALIAS(UP_MOUNTAIN,8)
+ALIAS(UP_MOUNTAIN_FROM_PROG,88)
+ALIAS(INNER_LOOP,7) 
+ALIAS(INNER_FROM_PROG,77) 
+
+//EXRAIL   // myAutomation must start with the EXRAIL instruction
+  // This is the default starting route, AKA ROUTE(0) 
+ // START(999) // this is just a diagnostic test cycle 
+  PRINT("started")
+  LCD(0,"EXRAIL RULES")
+  SERIAL("I had one of them but the leg fell off!")
+  DONE     // This just ends the startup thread
+
+  
+  /*AUTOSTART*/ ROUTE(ROUTE_1,"Close All") 
+    LCD(1,"Bingo")
+    CLOSE(TOP_TURNOUT) DELAY(10)
+    CLOSE(Y_TURNOUT) DELAY(10)
+    CLOSE(MIDDLE_TURNOUT) DELAY(10)
+    CLOSE(JOIN_TURNOUT) DELAY(10)
+    CLOSE(LOWER_TURNOUT) DELAY(10)
+    CLOSE(CROSSOVER_TURNOUT) DELAY(10)
+    CLOSE(PROG_TURNOUT) DELAY(10)
+    PRINT("Close All completed")
+
+    ENDTASK
+    
+
+   SEQUENCE(UP_MOUNTAIN)  // starting at the lower closed turnout siding and going up the mountain 
+     PRINT("Up Mountain started")
+     DELAY(10000)   // wait 10 seconds
+     RESERVE(BLOCK_LOWER_MOUNTAIN)
+     CLOSE(LOWER_TURNOUT) CLOSE(JOIN_TURNOUT)
+     FWD(60) AT(Y_LOWER)
+     RESERVE(BLOCK_X_MOUNTAIN)
+    CLOSE(Y_TURNOUT) CLOSE(MIDDLE_TURNOUT)
+    FWD(40)  AT(MIDDLE_C_BUFFER) STOP
+    FREE(BLOCK_X_MOUNTAIN) FREE(BLOCK_LOWER_MOUNTAIN)
+    DELAY(10000)
+    RESERVE(BLOCK_UPPER_MOUNTAIN) RESERVE(BLOCK_X_MOUNTAIN)
+    CLOSE(MIDDLE_TURNOUT) THROW(Y_TURNOUT) THROW(TOP_TURNOUT)
+    REV(55)
+    AFTER(Y_UPPER) FREE(BLOCK_X_MOUNTAIN)
+    REV(55) AT(TOP_T_BUFFER) STOP  // At top of mountain
+    FREE(BLOCK_UPPER_MOUNTAIN)
+    DELAY(5000)
+    RESERVE(BLOCK_UPPER_MOUNTAIN)
+    THROW(TOP_TURNOUT)
+    FWD(60) AT(Y_UPPER)
+    RESERVE(BLOCK_X_MOUNTAIN)
+    THROW(Y_TURNOUT) CLOSE(MIDDLE_TURNOUT)
+     FWD(40) AT(MIDDLE_C_BUFFER) STOP
+     FREE(BLOCK_UPPER_MOUNTAIN) FREE(BLOCK_X_MOUNTAIN)
+     DELAY(6000)
+     RESERVE(BLOCK_LOWER_MOUNTAIN) RESERVE(BLOCK_X_MOUNTAIN)
+     CLOSE(MIDDLE_TURNOUT) CLOSE(Y_TURNOUT) CLOSE(JOIN_TURNOUT) CLOSE(LOWER_TURNOUT)
+     REV(60) 
+     AFTER(Y_LOWER) FREE(BLOCK_X_MOUNTAIN)
+     AT(LOWER_C_BUFFER) STOP
+     FREE(BLOCK_LOWER_MOUNTAIN)
+     FOLLOW(UP_MOUNTAIN) 
+
+AUTOMATION(UP_MOUNTAIN_FROM_PROG,"Send up mountain from prog")
+   JOIN
+   RESERVE(BLOCK_LOWER_MOUNTAIN)
+   RESERVE(BLOCK_X_INNER)
+   RESERVE(BLOCK_X_OUTER)
+   // safe to cross
+   THROW(PROG_TURNOUT) THROW(CROSSOVER_TURNOUT) THROW(JOIN_TURNOUT)
+   FWD(45)
+   AFTER(JOIN_AFTER) STOP
+   CLOSE(PROG_TURNOUT) CLOSE(CROSSOVER_TURNOUT) CLOSE(JOIN_TURNOUT)
+   FREE(BLOCK_X_OUTER) FREE(BLOCK_X_INNER)
+   CLOSE(LOWER_TURNOUT)
+   REV(40) AT(LOWER_C_BUFFER) STOP
+   FREE(BLOCK_LOWER_MOUNTAIN)   
+   FOLLOW(UP_MOUNTAIN)
+
+   SEQUENCE(INNER_LOOP) 
+     FWD(50)
+     AT(CROSSOVER_INNER_BEFORE)
+     RESERVE(BLOCK_X_INNER)
+     CLOSE(CROSSOVER_TURNOUT)
+     FWD(50)
+     AFTER(CROSSOVER_INNER_AFTER)
+     FREE(BLOCK_X_INNER)
+     FOLLOW(INNER_LOOP)
+
+     
+   // Turnout definitions
+   TURNOUT(TOP_TURNOUT, TOP_TURNOUT,0,"Top Station")
+   TURNOUT(Y_TURNOUT, Y_TURNOUT,0,"Mountain join")
+   TURNOUT(MIDDLE_TURNOUT, MIDDLE_TURNOUT,0,"Middle Station")
+   TURNOUT(JOIN_TURNOUT,JOIN_TURNOUT,0)
+   TURNOUT(LOWER_TURNOUT,LOWER_TURNOUT,0)
+   TURNOUT(CROSSOVER_TURNOUT,CROSSOVER_TURNOUT,0)
+   TURNOUT(PROG_TURNOUT,PROG_TURNOUT,0)
+   
+// Single slip protection
+   ONTHROW(2)
+     THROW(1)
+     DONE
+   ONCLOSE(1)
+     CLOSE(2)
+     DONE
+
+
+   ROUTE(61,"Call return test")
+   PRINT("In 61 test 1")
+   CALL(62)
+   PRINT("In 61 test 2")
+   CALL(62)
+   PRINT("In 61 test 3")
+   ACTIVATE(100,2)
+   DEACTIVATE(100,2) 
+   DONE
+
+   SEQUENCE(62)
+     PRINT("In seq 62")
+     RETURN
+
+  ROUTE(63,"Signal test 40,41,42")
+   SIGNAL(40,41,42)
+   DELAY(2000)
+   RED(40)
+   DELAY(2000)
+   AMBER(40)
+   DELAY(2000)
+   GREEN(40)
+   FOLLOW(63)
+
+
+   ROUTE(64,"Func test 6772")
+   XFON(6772,1)
+   DELAY(5000)
+   XFOFF(6772,1)
+   DELAY(5000)
+   FOLLOW(64)
+
+ROUTE(65,"Negative sensor test")
+  PRINT(" WAIT for -176")
+  AT(-176)
+  PRINT(" WAIT for 176")
+  AT(176)
+  PRINT("done")
+  DONE 
+
+ROUTE(123,"Activate stuff")
+  ACTIVATEL(5)
+  ACTIVATE(7,2)
+  DEACTIVATE(3,2)
+  DEACTIVATEL(6) 
+  DONE
+
+ONACTIVATEL(5)
+   PRINT("ACT 5")
+   DONE
+ONACTIVATE(7,2)
+   PRINT("ACT 7,2")
+   DONE
+ONDEACTIVATE(7,2)
+   PRINT("DEACT 7,2")
+   DONE
+ONDEACTIVATEL(5)
+   PRINT("DEACT 5")
+   DONE
+   
+    
+   

myHal.cpp_example.txt

@@ -0,0 +1,165 @@
+//  Sample myHal.cpp file.
+//
+// To use this file, copy it to myHal.cpp and uncomment the directives and/or
+// edit them to satisfy your requirements.  If you only want to use up to 
+// two MCP23017 GPIO Expander modules and/or up to two PCA9685 Servo modules,
+// then you don't need this file as DCC++EX configures these for free!
+
+// Note that if the file has a .cpp extension it WILL be compiled into the build
+// and the halSetup() function WILL be invoked.
+//
+// To prevent this, temporarily rename the file to myHal.txt or similar.
+//
+
+// The #if directive prevent compile errors for Uno and Nano by excluding the 
+//  HAL directives from the build.
+#if !defined(IO_NO_HAL)
+
+// Include devices you need.
+#include "IODevice.h"
+#include "IO_HCSR04.h"    // Ultrasonic range sensor
+#include "IO_VL53L0X.h"   // Laser time-of-flight sensor
+#include "IO_DFPlayer.h"  // MP3 sound player
+
+
+//==========================================================================
+// The function halSetup() is invoked from CS if it exists within the build.
+// The setup calls are included between the open and close braces "{ ... }".
+// Comments (lines preceded by "//") are optional.
+//==========================================================================
+
+void halSetup() {
+
+  //=======================================================================
+  // The following directive defines a PCA9685 PWM Servo driver module.
+  //=======================================================================
+  // The parameters are: 
+  //   First Vpin=100
+  //   Number of VPINs=16 (numbered 100-115)
+  //   I2C address of module=0x40
+
+  //PCA9685::create(100, 16, 0x40);
+
+
+  //=======================================================================
+  // The following directive defines an MCP23017 16-port I2C GPIO Extender module.
+  //=======================================================================
+  // The parameters are: 
+  //   First Vpin=196
+  //   Number of VPINs=16 (numbered 196-211)
+  //   I2C address of module=0x22
+
+  //MCP23017::create(196, 16, 0x22);
+
+
+  // Alternative form, which allows the INT pin of the module to request a scan
+  // by pulling Arduino pin 40 to ground.  Means that the I2C isn't being polled
+  // all the time, only when a change takes place. Multiple modules' INT pins
+  // may be connected to the same Arduino pin.
+
+  //MCP23017::create(196, 16, 0x22, 40);
+
+
+  //=======================================================================
+  // The following directive defines an MCP23008 8-port I2C GPIO Extender module.
+  //=======================================================================
+  // The parameters are: 
+  //   First Vpin=300
+  //   Number of VPINs=8 (numbered 300-307)
+  //   I2C address of module=0x22
+
+  //MCP23008::create(300, 8, 0x22);
+
+
+  //=======================================================================
+  // The following directive defines a PCF8574 8-port I2C GPIO Extender module.
+  //=======================================================================
+  // The parameters are: 
+  //   First Vpin=200
+  //   Number of VPINs=8 (numbered 200-207)
+  //   I2C address of module=0x23
+
+  //PCF8574::create(200, 8, 0x23);
+
+
+  // Alternative form using INT pin (see above)
+
+  //PCF8574::create(200, 8, 0x23, 40);
+
+
+  //=======================================================================
+  // The following directive defines an HCSR04 ultrasonic ranging module.
+  //=======================================================================
+  // The parameters are: 
+  //   Vpin=2000 (only one VPIN per directive)
+  //   Number of VPINs=1
+  //   Arduino pin connected to TRIG=30
+  //   Arduino pin connected to ECHO=31
+  //   Minimum trigger range=20cm (VPIN goes to 1 when <20cm)
+  //   Maximum trigger range=25cm (VPIN goes to 0 when >25cm)
+  // Note: Multiple devices can be configured by using a different ECHO pin
+  // for each one.  The TRIG pin can be shared between multiple devices.
+  // Be aware that the 'ping' of one device may be received by another
+  // device and position them accordingly!
+
+  //HCSR04::create(2000, 30, 31, 20, 25);
+  //HCSR04::create(2001, 30, 32, 20, 25);
+
+
+  //=======================================================================
+  // The following directive defines a single VL53L0X Time-of-Flight range sensor.
+  //=======================================================================
+  // The parameters are:
+  //   VPIN=5000
+  //   Number of VPINs=1
+  //   I2C address=0x29 (default for this chip)
+  //   Minimum trigger range=200mm (VPIN goes to 1 when <20cm)
+  //   Maximum trigger range=250mm (VPIN goes to 0 when >25cm)
+
+  //VL53L0X::create(5000, 1, 0x29, 200, 250); 
+
+  // For multiple VL53L0X modules, add another parameter which is a VPIN connected to the
+  // module's XSHUT pin.  This allows the modules to be configured, at start,
+  // with distinct I2C addresses.  In this case, the address 0x29 is only used during
+  // initialisation to configure each device in turn with the desired unique I2C address.
+  // The examples below have the modules' XSHUT pins connected to the first two pins of 
+  // the first MCP23017 module (164 and 165), but Arduino pins may be used instead.
+  // The first module here is given I2C address 0x30 and the second is 0x31.
+
+  //VL53L0X::create(5000, 1, 0x30, 200, 250, 164); 
+  //VL53L0X::create(5001, 1, 0x31, 200, 250, 165); 
+
+
+  //=======================================================================
+  // Play mp3 files from a Micro-SD card, using a DFPlayer MP3 Module.
+  //=======================================================================
+  // Parameters: 
+  //   10000 = first VPIN allocated.
+  //   10 = number of VPINs allocated.
+  //   Serial1 = name of serial port (usually Serial1 or Serial2).
+  // With these parameters, up to 10 files may be played on pins 10000-10009.
+  // Play is started from EX-RAIL with SET(10000) for first mp3 file, SET(10001)
+  // for second file, etc.  Play may also be initiated by writing an analogue
+  // value to the first pin, e.g. SERVO(10000,23,0) will play the 23rd mp3 file.
+  // SERVO(10000,23,30) will do the same thing, as well as setting the volume to 
+  // 30 (maximum value).
+  // Play is stopped by RESET(10000) (or any other allocated VPIN).
+  // Volume may also be set by writing an analogue value to the second pin for the player, 
+  // e.g. SERVO(10001,30,0) sets volume to maximum (30).
+  // The EX-RAIL script may check for completion of play by calling WAITFOR(pin), which will only proceed to the
+  // following line when the player is no longer busy.
+  // E.g.
+  //    SEQUENCE(1)
+  //      AT(164)           // Wait for sensor attached to pin 164 to activate
+  //      SET(10003)        // Play fourth MP3 file
+  //      LCD(4, "Playing") // Display message on LCD/OLED
+  //      WAITFOR(10003)    // Wait for playing to finish
+  //      LCD(4, " ")       // Clear LCD/OLED line 
+  //      FOLLOW(1)         // Go back to start
+
+  // DFPlayer::create(10000, 10, Serial1);
+
+
+}
+
+#endif

platformio.ini

@@ -16,6 +16,7 @@ default_envs =
 	unowifiR2
 	nano
 src_dir = .
+include_dir = .
 
 [env]
 build_flags = -Wall -Wextra
@@ -41,7 +42,7 @@ lib_deps =
 	SPI
 monitor_speed = 115200
 monitor_flags = --echo
-build_flags = -DDIAG_IO
+build_flags = -DDIAG_IO -DDIAG_LOOPTIMES
 
 [env:mega2560-no-HAL]
 platform = atmelavr

version.h

@@ -3,8 +3,30 @@
 
 #include "StringFormatter.h"
 
-
-#define VERSION "3.1.6"
+#define VERSION "3.2.0 rc9"
+// 3.2.0 Major functional and non-functional changes.
+//       New HAL added for I/O (digital and analogue inputs and outputs, servos etc).
+//         Support for MCP23008, MCP23017 and PCF9584 I2C GPIO Extender modules.
+//         Support for PCA9685 PWM (servo) control modules.
+//         Support for analogue inputs on Arduino pins and on ADS111x I2C modules.
+//         Support for MP3 sound playback via DFPlayer module.
+//         Support for HC-SR04 Ultrasonic range sensor module.
+//         Support for VL53L0X Laser range sensor module (Time-Of-Flight).
+//       Native non-blocking I2C drivers for AVR and Nano architectures (fallback
+//       to blocking Wire library for other platforms).
+//       EEPROM layout change - deletes EEPROM contents on first start following upgrade.
+//       New EX-RAIL automation capability.
+//       Turnout class revised to expand turnout capabilities, new commands added.
+//       Output class now allows ID > 255.
+//       Configuration options to globally flip polarity of DCC Accessory states when driven
+//       from <a> command and <T> command.
+//       Increased use of display for showing loco decoder programming information.
+//       Can disable EEPROM code
+//       Can define border between long and short addresses
+//       Turnout and accessory states (thrown/closed = 0/1 or 1/0) can be set to match RCN-213
+//       Bugfix: one-off error in CIPSEND drop
+//       ...
+// 3.1.7 Bugfix: Unknown locos should have speed forward 
 // 3.1.6 Make output ID two bytes and guess format/size of registered outputs found in EEPROM
 // 3.1.5 Fix LCD corruption on power-up
 // 3.1.4 Refactor OLED and LCD drivers and remove unused code