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

Add-turntable-object

CommandDistributor.cpp

@@ -161,6 +161,10 @@ void  CommandDistributor::broadcastTurnout(int16_t id, bool isClosed ) {
 #endif
 }
 
+void CommandDistributor::broadcastTurntable(int16_t id, uint8_t position, bool moving) {
+  broadcastReply(COMMAND_TYPE, F("<i %d %d %d>\n"), id, position, moving);
+}
+
 void  CommandDistributor::broadcastClockTime(int16_t time, int8_t rate) {
   // The JMRI clock command is of the form : PFT65871<;>4
   // The CS broadcast is of the form "<jC mmmm nn" where mmmm is time minutes and dd speed
@@ -168,7 +172,7 @@ void  CommandDistributor::broadcastClockTime(int16_t time, int8_t rate) {
   // be safe for both types.
   broadcastReply(COMMAND_TYPE, F("<jC %d %d>\n"),time, rate);
 #ifdef CD_HANDLE_RING
-  broadcastReply(WITHROTTLE_TYPE, F("PFT%d<;>%d\n"), time*60, rate);
+  broadcastReply(WITHROTTLE_TYPE, F("PFT%l<;>%d\n"), (int32_t)time*60, rate);
 #endif
 }
 
@@ -205,6 +209,39 @@ int16_t CommandDistributor::retClockTime() {
 void  CommandDistributor::broadcastLoco(byte slot) {
   DCC::LOCO * sp=&DCC::speedTable[slot];
   broadcastReply(COMMAND_TYPE, F("<l %d %d %d %l>\n"), sp->loco,slot,sp->speedCode,sp->functions);
+#ifdef SABERTOOTH
+  if (Serial2 && sp->loco == SABERTOOTH) {
+    static uint8_t rampingmode = 0;
+    bool direction = (sp->speedCode & 0x80) !=0; // true for forward
+    int32_t speed = sp->speedCode & 0x7f;
+    if (speed == 1) { // emergency stop
+      if (rampingmode != 1) {
+	rampingmode = 1;
+	Serial2.print("R1: 0\r\n");
+	Serial2.print("R2: 0\r\n");
+      }
+      Serial2.print("MD: 0\r\n");
+    } else {
+      if (speed != 0) {
+        // speed is here 2 to 127
+	speed = (speed - 1) * 1625 / 100;
+	speed = speed * (direction ? 1 : -1);
+	// speed is here -2047 to 2047
+      }
+      if (rampingmode != 2) {
+	rampingmode = 2;
+	Serial2.print("R1: 2047\r\n");
+	Serial2.print("R2: 2047\r\n");
+      }
+      Serial2.print("M1: ");
+      Serial2.print(speed);
+      Serial2.print("\r\n");
+      Serial2.print("M2: ");
+      Serial2.print(speed);
+      Serial2.print("\r\n");
+    }
+  }
+#endif
 #ifdef CD_HANDLE_RING
   WiThrottle::markForBroadcast(sp->loco);
 #endif

CommandDistributor.h

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

CommandStation-EX.ino

@@ -30,6 +30,7 @@
  *  © 2021 Neil McKechnie
  *  © 2020-2021 Chris Harlow, Harald Barth, David Cutting,
  *  Fred Decker, Gregor Baues, Anthony W - Dayton
+ *  © 2023 Nathan Kellenicki
  *  All rights reserved.
  *
  *  This file is part of CommandStation-EX
@@ -78,6 +79,12 @@ void setup()
 // Initialise HAL layer before reading EEprom or setting up MotorDrivers 
   IODevice::begin();
 
+  // As the setup of a motor shield may require a read of the current sense input from the ADC,
+  // let's make sure to initialise the ADCee class!
+  ADCee::begin();
+  // Set up MotorDrivers early to initialize all pins
+  TrackManager::Setup(MOTOR_SHIELD_TYPE);
+
   DISPLAY_START (
     // This block is still executed for DIAGS if display not in use
     LCD(0,F("DCC-EX v%S"),F(VERSION));
@@ -89,26 +96,19 @@ void setup()
   // Start Ethernet if it exists
 #ifndef ARDUINO_ARCH_ESP32
 #if WIFI_ON
-  WifiInterface::setup(WIFI_SERIAL_LINK_SPEED, F(WIFI_SSID), F(WIFI_PASSWORD), F(WIFI_HOSTNAME), IP_PORT, WIFI_CHANNEL);
+  WifiInterface::setup(WIFI_SERIAL_LINK_SPEED, F(WIFI_SSID), F(WIFI_PASSWORD), F(WIFI_HOSTNAME), IP_PORT, WIFI_CHANNEL, WIFI_FORCE_AP);
 #endif // WIFI_ON
 #else
   // ESP32 needs wifi on always
-  WifiESP::setup(WIFI_SSID, WIFI_PASSWORD, WIFI_HOSTNAME, IP_PORT, WIFI_CHANNEL);
+  WifiESP::setup(WIFI_SSID, WIFI_PASSWORD, WIFI_HOSTNAME, IP_PORT, WIFI_CHANNEL, WIFI_FORCE_AP);
 #endif // ARDUINO_ARCH_ESP32
 
 #if ETHERNET_ON
   EthernetInterface::setup();
 #endif // ETHERNET_ON
   
-  // As the setup of a motor shield may require a read of the current sense input from the ADC,
-  // let's make sure to initialise the ADCee class!
-  ADCee::begin();
   // Responsibility 3: Start the DCC engine.
-  // Note: this provides DCC with two motor drivers, main and prog, which handle the motor shield(s)
-  // Standard supported devices have pre-configured macros but custome hardware installations require
-  //  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
-  TrackManager::Setup(MOTOR_SHIELD_TYPE);
+  DCC::begin();
 
   // Start RMFT aka EX-RAIL (ignored if no automnation)
   RMFT::begin();

DCC.cpp

@@ -60,8 +60,7 @@ const byte FN_GROUP_5=0x10;
 FSH* DCC::shieldName=NULL;
 byte DCC::globalSpeedsteps=128;
 
-void DCC::begin(const FSH * motorShieldName) {
-  shieldName=(FSH *)motorShieldName;
+void DCC::begin() {
   StringFormatter::send(&USB_SERIAL,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), shieldName, F(GITHUB_SHA));
 #ifndef DISABLE_EEPROM
   // Load stuff from EEprom
@@ -693,7 +692,7 @@ void  DCC::updateLocoReminder(int loco, byte speedCode) {
 
   if (loco==0) {
      // broadcast stop/estop but dont change direction
-     for (int reg = 0; reg < highestUsedReg; reg++) {
+     for (int reg = 0; reg <= highestUsedReg; reg++) {
        if (speedTable[reg].loco==0) continue;
        byte newspeed=(speedTable[reg].speedCode & 0x80) |  (speedCode & 0x7f);
        if (speedTable[reg].speedCode != newspeed) {

DCC.h

@@ -51,7 +51,10 @@ const byte MAX_LOCOS = 30;
 class DCC
 {
 public:
-  static void begin(const FSH * motorShieldName);
+  static inline void setShieldName(const FSH * motorShieldName) {
+    shieldName=(FSH *)motorShieldName;
+  };
+  static void begin();
   static void loop();
 
   // Public DCC API functions

DCCACK.cpp

@@ -152,7 +152,7 @@ byte DCCACK::getAck() {
       return(0);  // pending set off but not detected means no ACK.   
 }
 
-
+#ifndef DISABLE_PROG
 void DCCACK::loop() {
   while (ackManagerProg) {
     byte opcode=GETFLASH(ackManagerProg);
@@ -351,7 +351,7 @@ void DCCACK::callback(int value) {
 
     switch (callbackState) {
       case AFTER_READ:
-         if (ackManagerRejoin && autoPowerOff) {
+         if (ackManagerRejoin && !autoPowerOff) {
                 progDriver->setPower(POWERMODE::OFF);
                 callbackStart=millis();
                 callbackState=WAITING_30;
@@ -414,7 +414,7 @@ void DCCACK::callback(int value) {
           (ackManagerCallback)( value);
     }
 }
-
+#endif
 
 void DCCACK::checkAck(byte sentResetsSincePacket) {
     if (!ackPending) return; 

DCCEXParser.cpp

@@ -3,7 +3,7 @@
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
  *  © 2021 Herb Morton
- *  © 2020-2022 Harald Barth
+ *  © 2020-2023 Harald Barth
  *  © 2020-2021 M Steve Todd
  *  © 2020-2021 Fred Decker
  *  © 2020-2021 Chris Harlow
@@ -25,6 +25,79 @@
  *  You should have received a copy of the GNU General Public License
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
+
+/*
+List of single character OPCODEs in use for reference.
+
+When determining a new OPCODE for a new feature, refer to this list as the source of truth.
+
+Once a new OPCODE is decided upon, update this list.
+
+  Character, Usage
+  /, |EX-R| interactive commands
+  -, Remove from reminder table
+  =, |TM| configuration
+  !, Emergency stop
+  @, Reserved for future use - LCD messages to JMRI
+  #, Request number of supported cabs/locos; heartbeat
+  +, WiFi AT commands
+  ?, Reserved for future use
+  0, Track power off
+  1, Track power on
+  a, DCC accessory control
+  A,
+  b, Write CV bit on main
+  B, Write CV bit
+  c, Request current command
+  C,
+  d,
+  D, Diagnostic commands
+  e, Erase EEPROM
+  E, Store configuration in EEPROM
+  f, Loco decoder function control (deprecated)
+  F, Loco decoder function control
+  g,
+  G,
+  h,
+  H, Turnout state broadcast
+  i, Reserved for future use - Turntable object broadcast
+  I, Reserved for future use - Turntable object command and control
+  j, Throttle responses
+  J, Throttle queries
+  k, Reserved for future use - Potentially Railcom
+  K, Reserved for future use - Potentially Railcom
+  l, Loco speedbyte/function map broadcast
+  L,
+  m,
+  M, Write DCC packet
+  n,
+  N,
+  o,
+  O, Output broadcast
+  p, Broadcast power state
+  P, Write DCC packet
+  q, Sensor deactivated
+  Q, Sensor activated
+  r, Broadcast address read on programming track
+  R, Read CVs
+  s, Display status
+  S, Sensor configuration
+  t, Cab/loco update command
+  T, Turnout configuration/control
+  u, Reserved for user commands
+  U, Reserved for user commands
+  v,
+  V, Verify CVs
+  w, Write CV on main
+  W, Write CV
+  x,
+  X, Invalid command
+  y,
+  Y, Output broadcast
+  z,
+  Z, Output configuration/control
+*/
+
 #include "StringFormatter.h"
 #include "DCCEXParser.h"
 #include "DCC.h"
@@ -41,22 +114,21 @@
 #include "TrackManager.h"
 #include "DCCTimer.h"
 #include "EXRAIL2.h"
+#include "Turntables.h"
 
 // This macro can't be created easily as a portable function because the
 // flashlist requires a far pointer for high flash access. 
 #define SENDFLASHLIST(stream,flashList)                 \
     for (int16_t i=0;;i+=sizeof(flashList[0])) {                            \
         int16_t value=GETHIGHFLASHW(flashList,i);       \
-        if (value==0) break;                            \
-        StringFormatter::send(stream,F(" %d"),value);   \
+        if (value==INT16_MAX) break;                            \
+        if (value != 0) StringFormatter::send(stream,F(" %d"),value);	\
     }                                   
 
 
 // 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;
 const int16_t HASH_KEYWORD_MAIN = 11339;
-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;
@@ -64,7 +136,11 @@ 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;
+#ifndef DISABLE_PROG
+const int16_t HASH_KEYWORD_JOIN = -30750;
+const int16_t HASH_KEYWORD_PROG = -29718;
 const int16_t HASH_KEYWORD_PROGBOOST = -6353;
+#endif
 #ifndef DISABLE_EEPROM
 const int16_t HASH_KEYWORD_EEPROM = -7168;
 #endif
@@ -82,6 +158,8 @@ const int16_t HASH_KEYWORD_A='A';
 const int16_t HASH_KEYWORD_C='C';
 const int16_t HASH_KEYWORD_G='G';
 const int16_t HASH_KEYWORD_I='I';
+const int16_t HASH_KEYWORD_O='O';
+const int16_t HASH_KEYWORD_P='P';
 const int16_t HASH_KEYWORD_R='R';
 const int16_t HASH_KEYWORD_T='T';
 const int16_t HASH_KEYWORD_X='X';
@@ -93,6 +171,8 @@ const int16_t HASH_KEYWORD_ANOUT = -26399;
 const int16_t HASH_KEYWORD_WIFI = -5583;
 const int16_t HASH_KEYWORD_ETHERNET = -30767;
 const int16_t HASH_KEYWORD_WIT = 31594;
+const int16_t HASH_KEYWORD_EXTT = 8573;
+const int16_t HASH_KEYWORD_ADD = 3201;
 
 int16_t DCCEXParser::stashP[MAX_COMMAND_PARAMS];
 bool DCCEXParser::stashBusy;
@@ -217,6 +297,9 @@ void DCCEXParser::parse(Print *stream,  byte *com,  RingStream *ringStream) {
 
 void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 {
+#ifdef DISABLE_PROG
+    (void)ringStream;
+#endif
 #ifndef DISABLE_EEPROM
     (void)EEPROM; // tell compiler not to warn this is unused
 #endif
@@ -286,6 +369,8 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 
         if (direction < 0 || direction > 1)
             break; // invalid direction code
+	if (cab > 10239 || cab < 0)
+	    break; // beyond DCC range
 
         DCC::setThrottle(cab, tspeed, direction);
         if (params == 4) // send obsolete format T response
@@ -369,16 +454,24 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             return;
         break;
 
+#ifndef DISABLE_PROG
     case 'w': // WRITE CV on MAIN <w CAB CV VALUE>
-        DCC::writeCVByteMain(p[0], p[1], p[2]);
-        return;
+      if (params != 3)
+	break;
+      DCC::writeCVByteMain(p[0], p[1], p[2]);
+      return;
 
     case 'b': // WRITE CV BIT ON MAIN <b CAB CV BIT VALUE>
-        DCC::writeCVBitMain(p[0], p[1], p[2], p[3]);
-        return;
+      if (params != 4)
+	break;
+      DCC::writeCVBitMain(p[0], p[1], p[2], p[3]);
+      return;
+#endif
 
     case 'M': // WRITE TRANSPARENT DCC PACKET MAIN <M REG X1 ... X9>
+#ifndef DISABLE_PROG
     case 'P': // WRITE TRANSPARENT DCC PACKET PROG <P REG X1 ... X9>
+#endif
         // NOTE: this command was parsed in HEX instead of decimal
         params--; // drop REG
         if (params<1) break;
@@ -393,15 +486,18 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         }
         return;
         
+#ifndef DISABLE_PROG
     case 'W': // WRITE CV ON PROG <W CV VALUE CALLBACKNUM CALLBACKSUB>
-            if (!stashCallback(stream, p, ringStream))
-                break;
+        if (!stashCallback(stream, p, ringStream))
+	    break;
         if (params == 1) // <W id> Write new loco id (clearing consist and managing short/long)
             DCC::setLocoId(p[0],callback_Wloco);
         else if (params == 4)  // WRITE CV ON PROG <W CV VALUE [CALLBACKNUM] [CALLBACKSUB]>
             DCC::writeCVByte(p[0], p[1], callback_W4);
-        else  // WRITE CV ON PROG <W CV VALUE>
+        else if (params == 2)  // WRITE CV ON PROG <W CV VALUE>
             DCC::writeCVByte(p[0], p[1], callback_W);
+	else
+            break;
         return;
 
     case 'V': // VERIFY CV ON PROG <V CV VALUE> <V CV BIT 0|1>
@@ -421,9 +517,11 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         }
         break;
 
-    case 'B': // WRITE CV BIT ON PROG <B CV BIT VALUE CALLBACKNUM CALLBACKSUB>
+    case 'B': // WRITE CV BIT ON PROG  <B CV BIT VALUE CALLBACKNUM CALLBACKSUB> or <B CV BIT VALUE>
+        if (params != 3 && params != 5)
+	  break;
         if (!stashCallback(stream, p, ringStream))
-            break;
+	  break;
         DCC::writeCVBit(p[0], p[1], p[2], callback_B);
         return;
 
@@ -450,6 +548,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             return;
         }
         break;
+#endif
 
     case '1': // POWERON <1   [MAIN|PROG|JOIN]>
         {
@@ -457,27 +556,29 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         bool prog=false;
         bool join=false;
         if (params > 1) break;
-        if (params==0 || MotorDriver::commonFaultPin) { // <1> or tracks can not be handled individually
+        if (params==0) { // All
             main=true;
             prog=true;
         }
 	if (params==1) {
-	  if (p[0] == HASH_KEYWORD_JOIN) {  // <1 JOIN>
+	  if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
+            main=true;
+	  }
+#ifndef DISABLE_PROG
+	  else if (p[0] == HASH_KEYWORD_JOIN) {  // <1 JOIN>
             main=true;
             prog=true;
             join=true;
 	  }
-	  else if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
-            main=true;
-	  }
 	  else if (p[0]==HASH_KEYWORD_PROG) { // <1 PROG>
             prog=true;
 	  }
+#endif
 	  else break; // will reply <X>
 	}
+        TrackManager::setJoin(join);
         if (main) TrackManager::setMainPower(POWERMODE::ON);
         if (prog) TrackManager::setProgPower(POWERMODE::ON);
-        TrackManager::setJoin(join);
 
         CommandDistributor::broadcastPower();
         return;
@@ -488,7 +589,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         bool main=false;
         bool prog=false;
         if (params > 1) break;
-        if (params==0 || MotorDriver::commonFaultPin) { // <0> or tracks can not be handled individually
+        if (params==0) { // All
 	  main=true;
 	  prog=true;
         }
@@ -496,18 +597,20 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 	  if (p[0]==HASH_KEYWORD_MAIN) { // <0 MAIN>
 	    main=true;
 	  }
+#ifndef DISABLE_PROG
 	  else if (p[0]==HASH_KEYWORD_PROG) { // <0 PROG>
 	    prog=true;
 	  }
+#endif
 	  else break; // will reply <X>
 	}
 
+        TrackManager::setJoin(false);
         if (main) TrackManager::setMainPower(POWERMODE::OFF);
         if (prog) {
             TrackManager::progTrackBoosted=false;  // Prog track boost mode will not outlive prog track off
             TrackManager::setProgPower(POWERMODE::OFF);
         }
-        TrackManager::setJoin(false);
 
         CommandDistributor::broadcastPower();
         return;
@@ -548,12 +651,12 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
     case ' ': // < >
         StringFormatter::send(stream, F("\n"));
         return;
-
+#ifndef DISABLE_DIAG
     case 'D': // < >
         if (parseD(stream, params, p))
             return;
-        return;
-
+        break;
+#endif
     case '=': // <= Track manager control  >
         if (TrackManager::parseJ(stream, params, p))
             return;
@@ -638,8 +741,12 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                 if (params==1) {
                     SENDFLASHLIST(stream,RMFT2::rosterIdList)
                 }
-                else StringFormatter::send(stream,F(" %d \"%S\" \"%S\""), 
-                    id, RMFT2::getRosterName(id), RMFT2::getRosterFunctions(id));
+                else {
+		  const FSH * functionNames= RMFT2::getRosterFunctions(id);
+		  StringFormatter::send(stream,F(" %d \"%S\" \"%S\""), 
+					id, RMFT2::getRosterName(id),
+					functionNames == NULL ? RMFT2::getRosterFunctions(0) : functionNames);
+		}
 #endif          
                 StringFormatter::send(stream, F(">\n"));      
                 return; 
@@ -668,11 +775,71 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                 }
                 StringFormatter::send(stream, F(">\n"));
                 return;
+// No turntables without HAL support
+#ifndef IO_NO_HAL
+            case HASH_KEYWORD_O: // <JO returns turntable list
+                StringFormatter::send(stream, F("<jO"));
+                if (params==1) { // <JO>
+                    for (Turntable * tto=Turntable::first(); tto; tto=tto->next()) { 
+                        if (tto->isHidden()) continue;          
+                        StringFormatter::send(stream, F(" %d"),tto->getId());
+                    }
+                    StringFormatter::send(stream, F(">\n"));
+                } else {    // <JO id>
+                    Turntable *tto=Turntable::get(id);
+                    if (!tto || tto->isHidden()) {
+                        StringFormatter::send(stream, F(" %d X>\n"), id);
+                    } else {
+                        uint8_t pos = tto->getPosition();
+                        uint8_t type = tto->isEXTT();
+                        uint8_t posCount = tto->getPositionCount();
+                        const FSH *todesc = NULL;
+#ifdef EXRAIL_ACTIVE
+                        todesc = RMFT2::getTurntableDescription(id);
+#endif
+                        if (todesc == NULL) todesc = F("");
+                        StringFormatter::send(stream, F(" %d %d %d %d \"%S\">\n"), id, type, pos, posCount, todesc);
+                    }
+                }
+                return;
+            case HASH_KEYWORD_P: // <JP id> returns turntable position list for the turntable id
+                if (params==2) { // <JP id>
+                    Turntable *tto=Turntable::get(id);
+                    if (!tto || tto->isHidden()) {
+                        StringFormatter::send(stream, F(" %d X>\n"), id);
+                    } else {
+                        uint8_t posCount = tto->getPositionCount();
+                        const FSH *tpdesc = NULL;
+                        for (uint8_t p = 0; p < posCount; p++) {
+                            StringFormatter::send(stream, F("<jP"));
+                            int16_t value = tto->getPositionValue(p);
+                            int16_t angle = tto->getPositionAngle(p);
+#ifdef EXRAIL_ACTIVE
+                            tpdesc = RMFT2::getTurntablePositionDescription(id, p);
+#endif
+                            if (tpdesc == NULL) tpdesc = F("");
+                            StringFormatter::send(stream, F(" %d %d %d %d \"%S\""), id, p, value, angle, tpdesc);
+                            StringFormatter::send(stream, F(">\n"));
+                        }
+                    }
+                } else {
+                    StringFormatter::send(stream, F("<jP X>\n"));
+                }
+                return;
+#endif
             default: break;    
             }  // switch(p[1])
         break; // case J
         }
 
+// No turntables without HAL support
+#ifndef IO_NO_HAL
+    case 'I': // TURNTABLE  <I ...>
+        if (parseI(stream, params, p))
+            return;
+        break;
+#endif
+
     default: //anything else will diagnose and drop out to <X>
         DIAG(F("Opcode=%c params=%d"), opcode, params);
         for (int i = 0; i < params; i++)
@@ -893,6 +1060,7 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         StringFormatter::send(stream, F("Free memory=%d\n"), DCCTimer::getMinimumFreeMemory());
         break;
 
+#ifndef DISABLE_PROG
     case HASH_KEYWORD_ACK: // <D ACK ON/OFF> <D ACK [LIMIT|MIN|MAX|RETRY] Value>
 	if (params >= 3) {
 	    if (p[1] == HASH_KEYWORD_LIMIT) {
@@ -913,6 +1081,7 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
 	  Diag::ACK = onOff;
 	}
         return true;
+#endif
 
     case HASH_KEYWORD_CMD: // <D CMD ON/OFF>
         Diag::CMD = onOff;
@@ -935,11 +1104,11 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         Diag::LCN = onOff;
         return true;
 #endif
-
+#ifndef DISABLE_PROG
     case HASH_KEYWORD_PROGBOOST:
         TrackManager::progTrackBoosted=true;
 	    return true;
-
+#endif
     case HASH_KEYWORD_RESET:
         DCCTimer::reset();
         break; // and <X> if we didnt restart 
@@ -990,6 +1159,99 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
     return false;
 }
 
+// ==========================
+// Turntable - no support if no HAL
+// <I> - list all
+// <I id> - broadcast type and current position
+// <I id DCC> - create DCC - This is TBA
+// <I id steps> - operate (DCC)
+// <I id steps activity> - operate (EXTT)
+// <I id ADD position value> - add position
+// <I id EXTT i2caddress vpin home> - create EXTT
+#ifndef IO_NO_HAL
+bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
+{
+    switch (params)
+    {
+    case 0: // <I> list turntable objects
+        return Turntable::printAll(stream);
+
+    case 1: // <I id> broadcast type and current position
+        {    
+            Turntable *tto = Turntable::get(p[0]);
+            if (tto) {
+                bool type = tto->isEXTT();
+                uint8_t position = tto->getPosition();
+                StringFormatter::send(stream, F("<i %d %d>\n"), type, position);
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    case 2: // <I id position> - rotate a DCC turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (tto && !tto->isEXTT()) {
+                if (!tto->setPosition(p[0], p[1])) return false;
+            } else {
+                return false;
+            }
+        }
+        return true;
+
+    case 3: // <I id position activity> | <I id DCC home> - rotate to position for EX-Turntable or create DCC turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_DCC) {
+                if (tto || p[2] < 0 || p[2] > 3600) return false;
+                if (!DCCTurntable::create(p[0])) return false;
+                Turntable *tto = Turntable::get(p[0]);
+                tto->addPosition(0, 0, p[2]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                if (!tto) return false;
+                if (!tto->isEXTT()) return false;
+                if (!tto->setPosition(p[0], p[1], p[2])) return false;
+            }
+        }
+        return true;
+    
+    case 4: // <I id EXTT vpin home> create an EXTT turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_EXTT) {
+                if (tto || p[3] < 0 || p[3] > 3600) return false;
+                if (!EXTTTurntable::create(p[0], (VPIN)p[2])) return false;
+                Turntable *tto = Turntable::get(p[0]);
+                tto->addPosition(0, 0, p[3]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    case 5: // <I id ADD position value angle> add a position
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_ADD) {
+                // tto must exist, no more than 48 positions, angle 0 - 3600
+                if (!tto || p[2] > 48 || p[4] < 0 || p[4] > 3600) return false;
+                tto->addPosition(p[2], p[3], p[4]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    default:    // Anything else is invalid
+        return false;
+    }
+}
+#endif
+
 // CALLBACKS must be static
 bool DCCEXParser::stashCallback(Print *stream, int16_t p[MAX_COMMAND_PARAMS], RingStream * ringStream)
 {

DCCEXParser.h

@@ -24,6 +24,7 @@
 #include <Arduino.h>
 #include "FSH.h"
 #include "RingStream.h"
+#include "defines.h"
 
 typedef void (*FILTER_CALLBACK)(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
 typedef void (*AT_COMMAND_CALLBACK)(HardwareSerial * stream,const byte * command);
@@ -45,13 +46,16 @@ struct DCCEXParser
     static int16_t splitValues( int16_t result[MAX_COMMAND_PARAMS], const byte * command, bool usehex);
      
     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 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[]);
+#ifndef IO_NO_HAL
+    static bool parseI(Print * stream, int16_t params, int16_t p[]);
+#endif
 
-     static Print * getAsyncReplyStream();
-     static void commitAsyncReplyStream();
+    static Print * getAsyncReplyStream();
+    static void commitAsyncReplyStream();
 
     static bool stashBusy;
     static byte stashTarget;

DCCRMT.cpp

@@ -194,8 +194,10 @@ int RMTChannel::RMTfillData(const byte buffer[], byte byteCount, byte repeatCoun
   setDCCBit1(data + bitcounter-1);     // overwrite previous zero bit with one bit
   setEOT(data + bitcounter++);         // EOT marker
   dataLen = bitcounter;
+  noInterrupts();                      // keep dataReady and dataRepeat consistnet to each other
   dataReady = true;
   dataRepeat = repeatCount+1;         // repeatCount of 0 means send once
+  interrupts();
   return 0;
 }
 
@@ -212,6 +214,8 @@ void IRAM_ATTR RMTChannel::RMTinterrupt() {
   if (dataReady) {            // if we have new data, fill while preamble is running
     rmt_fill_tx_items(channel, data, dataLen, preambleLen-1);
     dataReady = false;
+    if (dataRepeat == 0)       // all data should go out at least once
+      DIAG(F("Channel %d DCC signal lost data"), channel);
   }
   if (dataRepeat > 0)         // if a repeat count was specified, work on that
     dataRepeat--;

DCCTimer.h

@@ -105,9 +105,14 @@ private:
 // that an offset can be initialized.
 class ADCee {
 public:
-  // init does add the pin to the list of scanned pins (if this
+  // begin is called for any setup that must be done before
+  // **init** can be called. On some architectures this involves ADC
+  // initialisation and clock routing, sampling times etc.
+  static void begin();
+  // init adds the pin to the list of scanned pins (if this
   // platform's implementation scans pins) and returns the first
-  // read value. It is called before the regular scan is started.
+  // read value (which is why it required begin to have been called first!)
+  // It must be called before the regular scan is started.
   static int init(uint8_t pin);
   // read does read the pin value from the scanned cache or directly
   // if this is a platform that does not scan. fromISR is a hint if
@@ -116,19 +121,15 @@ public:
   static int read(uint8_t pin, bool fromISR=false);
   // returns possible max value that the ADC can return
   static int16_t ADCmax();
-  // begin is called for any setup that must be done before
-  // scan can be called.
-  static void begin();
 private:
   // On platforms that scan, it is called from waveform ISR
   // only on a regular basis.
   static void scan();
   // bit array of used pins (max 16)
   static uint16_t usedpins;
+  static uint8_t highestPin;
   // cached analog values (malloc:ed to actual number of ADC channels)
   static int *analogvals;
-  // ids to scan (new way)
-  static byte *idarr;
   // friend so that we can call scan() and begin()
   friend class DCCWaveform;
   };

DCCTimerAVR.cpp

@@ -1,6 +1,6 @@
 /*
  *  © 2021 Mike S
- *  © 2021-2022 Harald Barth
+ *  © 2021-2023 Harald Barth
  *  © 2021 Fred Decker
  *  © 2021 Chris Harlow
  *  © 2021 David Cutting
@@ -29,6 +29,9 @@
 #include <avr/boot.h> 
 #include <avr/wdt.h>
 #include "DCCTimer.h"
+#ifdef DEBUG_ADC
+#include "TrackManager.h"
+#endif
 INTERRUPT_CALLBACK interruptHandler=0;
 
   // Arduino nano, uno, mega etc
@@ -128,8 +131,8 @@ void DCCTimer::reset() {
 #define NUM_ADC_INPUTS 8
 #endif
 uint16_t ADCee::usedpins = 0;
+uint8_t ADCee::highestPin = 0;
 int * ADCee::analogvals = NULL;
-byte *ADCee::idarr = NULL;
 static bool ADCusesHighPort = false;
 
 /*
@@ -139,28 +142,17 @@ static bool ADCusesHighPort = false;
  */
 int ADCee::init(uint8_t pin) {
   uint8_t id = pin - A0;
-  byte n;
   if (id >= NUM_ADC_INPUTS)
     return -1023;
   if (id > 7)
     ADCusesHighPort = true;
   pinMode(pin, INPUT);
   int value = analogRead(pin);
-  if (analogvals == NULL) {
+  if (analogvals == NULL)
     analogvals = (int *)calloc(NUM_ADC_INPUTS, sizeof(int));
-    for (n=0 ; n < NUM_ADC_INPUTS; n++) // set unreasonable value at startup as marker
-      analogvals[n] = -32768;           // 16 bit int min value
-    idarr = (byte *)calloc(NUM_ADC_INPUTS+1, sizeof(byte));  // +1 for terminator value
-    for (n=0 ; n <= NUM_ADC_INPUTS; n++)
-      idarr[n] = 255;                   // set 255 as end of array marker
-  }
-  analogvals[id] = value; // store before enable by idarr[n]
-  for (n=0 ; n <= NUM_ADC_INPUTS; n++) {
-    if (idarr[n] == 255) {
-      idarr[n] = id;
-      break;
-    }
-  }
+  analogvals[id] = value;
+  usedpins |= (1<<id);
+  if (id > highestPin) highestPin = id;
   return value;
 }
 int16_t ADCee::ADCmax() {
@@ -170,14 +162,14 @@ int16_t ADCee::ADCmax() {
  * Read function ADCee::read(pin) to get value instead of analogRead(pin)
  */
 int ADCee::read(uint8_t pin, bool fromISR) {
-  (void)fromISR; // AVR does ignore this arg
   uint8_t id = pin - A0;
-  int a;
+  if ((usedpins & (1<<id) ) == 0)
+    return -1023;
   // we do not need to check (analogvals == NULL)
   // because usedpins would still be 0 in that case
-  noInterrupts();
-  a = analogvals[id];
-  interrupts();
+  if (!fromISR) noInterrupts();
+  int a = analogvals[id];
+  if (!fromISR) interrupts();
   return a;
 }
 /*
@@ -186,7 +178,8 @@ int ADCee::read(uint8_t pin, bool fromISR) {
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
 void ADCee::scan() {
-  static byte num = 0;       // index into id array
+  static byte id = 0;       // id and mask are the same thing but it is faster to
+  static uint16_t mask = 1; // increment and shift instead to calculate mask from id
   static bool waiting = false;
 
   if (waiting) {
@@ -198,26 +191,49 @@ void ADCee::scan() {
     low = ADCL; //must read low before high
     high = ADCH;
     bitSet(ADCSRA, ADIF);
-    analogvals[idarr[num]] = (high << 8) | low;
+    analogvals[id] = (high << 8) | low;
+    // advance at least one track
+#ifdef DEBUG_ADC
+    if (id == 1) TrackManager::track[1]->setBrake(0);
+#endif
     waiting = false;
+    id++;
+    mask = mask << 1;
+    if (id > highestPin) {
+      id = 0;
+      mask = 1;
+    }
   }
   if (!waiting) {
-    // cycle around in-use analogue pins
-    num++;
-    if (idarr[num] == 255)
-      num = 0;
-    // start new ADC aquire on id
+    if (usedpins == 0) // otherwise we would loop forever
+      return;
+    // look for a valid track to sample or until we are around
+    while (true) {
+      if (mask  & usedpins) {
+	// start new ADC aquire on id
 #if defined(ADCSRB) && defined(MUX5)
-    if (ADCusesHighPort) {     // if we ever have started to use high pins)
-      if (idarr[num] > 7)              // if we use a high ADC pin
-	bitSet(ADCSRB, MUX5);  // set MUX5 bit
-      else
-	bitClear(ADCSRB, MUX5);
-    }
+	if (ADCusesHighPort) { // if we ever have started to use high pins)
+	  if (id > 7)          // if we use a high ADC pin
+	    bitSet(ADCSRB, MUX5); // set MUX5 bit
+	  else
+	    bitClear(ADCSRB, MUX5);
+	}
 #endif
-    ADMUX = (1 << REFS0) | (idarr[num] & 0x07); // select AVCC as reference and set MUX
-    bitSet(ADCSRA, ADSC);               // start conversion
-    waiting = true;
+	ADMUX=(1<<REFS0)|(id & 0x07); //select AVCC as reference and set MUX
+	bitSet(ADCSRA,ADSC); // start conversion
+#ifdef DEBUG_ADC
+	if (id == 1) TrackManager::track[1]->setBrake(1);
+#endif
+	waiting = true;
+	return;
+      }
+      id++;
+      mask = mask << 1;
+      if (id > highestPin) {
+      	id = 0;
+	      mask = 1;
+      }
+    }
   }
 }
 #pragma GCC pop_options
@@ -231,4 +247,4 @@ void ADCee::begin() {
   //bitSet(ADCSRA, ADSC); //do not start the ADC yet. Done when we have set the MUX
   interrupts();
 }
-#endif
+#endif

DCCTimerESP.cpp

@@ -180,8 +180,8 @@ void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value) {
           return;
       }
       pin_to_channel[pin] = --cnt_channel;
-      ledcAttachPin(pin, cnt_channel);
       ledcSetup(cnt_channel, 1000, 8);
+      ledcAttachPin(pin, cnt_channel);
     } else {
       ledcAttachPin(pin, pin_to_channel[pin]);
     }

DCCTimerSTM32.cpp

@@ -30,29 +30,33 @@
 #ifdef ARDUINO_ARCH_STM32
 
 #include "DCCTimer.h"
+#ifdef DEBUG_ADC
+#include "TrackManager.h"
+#endif
+#include "DIAG.h"
 
-#if defined(ARDUINO_NUCLEO_F411RE)
-// Nucleo-64 boards don't have Serial1 defined by default
+#if defined(ARDUINO_NUCLEO_F401RE) || defined(ARDUINO_NUCLEO_F411RE)
+// Nucleo-64 boards don't have additional serial ports defined by default
 HardwareSerial Serial1(PB7, PA15);  // Rx=PB7, Tx=PA15 -- CN7 pins 17 and 21 - F411RE
 // Serial2 is defined to use USART2 by default, but is in fact used as the diag console
 // via the debugger on the Nucleo-64. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
 // Let's define Serial6 as an additional serial port (the only other option for the Nucleo-64s)
 HardwareSerial Serial6(PA12, PA11);  // Rx=PA12, Tx=PA11 -- CN10 pins 12 and 14 - F411RE
 #elif defined(ARDUINO_NUCLEO_F446RE)
-// Nucleo-64 boards don't have Serial1 defined by default
-HardwareSerial Serial1(PA10, PB6);  // Rx=PA10 (D2), Tx=PB6 (D10) -- CN10 pins 17 and 9 - F446RE 
+// Nucleo-64 boards don't have additional serial ports defined by default
+// On the F446RE, Serial1 isn't really useable as it's Rx/Tx pair sit on already used D2/D10 pins
+// HardwareSerial Serial1(PA10, PB6);  // Rx=PA10 (D2), Tx=PB6 (D10) -- CN10 pins 17 and 9 - F446RE 
 // Serial2 is defined to use USART2 by default, but is in fact used as the diag console
 // via the debugger on the Nucleo-64. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
-// NB: USART3 and USART6 are available but as yet undefined
-#elif defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
+// On the F446RE, Serial3 and Serial5 are easy to use:
+HardwareSerial Serial3(PC11, PC10);  // Rx=PC11, Tx=PC10 -- USART3 - F446RE
+HardwareSerial Serial5(PD2, PC12);  // Rx=PC7, Tx=PC6 -- UART5 - F446RE
+// On the F446RE, Serial4 and Serial6 also use pins we can't readily map while using the Arduino pins
+#elif defined(ARDUINO_NUCLEO_F413ZH) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)|| defined(ARDUINO_NUCLEO_F412ZG) 
 // Nucleo-144 boards don't have Serial1 defined by default
-HardwareSerial Serial1(PG9, PG14);  // Rx=PG9, Tx=PG14 -- D0, D1 - F412ZG/F446ZE
-// Serial2 is defined to use USART2 by default, but is in fact used as the diag console
+HardwareSerial Serial6(PG9, PG14);  // Rx=PG9, Tx=PG14 -- USART6
+// Serial3 is defined to use USART3 by default, but is in fact used as the diag console
 // via the debugger on the Nucleo-144. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
-// NB:
-//    On all of the above, USART3, and USART6 are available but as yet undefined
-//    On F446ZE and F429ZI, UART4, UART5 are also available but as yet undefined
-//    On F429ZI, UART7 and UART8 are also available but as yet undefined
 #else
 #error STM32 board selected is not yet explicitly supported - so Serial1 peripheral is not defined
 #endif
@@ -231,13 +235,16 @@ void DCCTimer::reset() {
     while(true) {};
 }
 
-#define NUM_ADC_INPUTS NUM_ANALOG_INPUTS
-
 // TODO: may need to use uint32_t on STMF4xx variants with > 16 analog inputs!
 #if defined(ARDUINO_NUCLEO_F446RE) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
 #warning STM32 board selected not fully supported - only use ADC1 inputs 0-15 for current sensing!
 #endif
+// For now, define the max of 16 ports - some variants have more, but this not **yet** supported
+#define NUM_ADC_INPUTS 16
+// #define NUM_ADC_INPUTS NUM_ANALOG_INPUTS
+
 uint16_t ADCee::usedpins = 0;
+uint8_t ADCee::highestPin = 0;
 int * ADCee::analogvals = NULL;
 uint32_t * analogchans = NULL;
 bool adc1configured = false;
@@ -308,6 +315,9 @@ int ADCee::init(uint8_t pin) {
   analogvals[id] = value;     // Store sampled value
   analogchans[id] = adcchan;  // Keep track of which ADC channel is used for reading this pin
   usedpins |= (1 << id);      // This pin is now ready
+  if (id > highestPin) highestPin = id; // Store our highest pin in use
+
+  DIAG(F("ADCee::init(): value=%d, channel=%d, id=%d"), value, adcchan, id);
 
   return value;
 }
@@ -342,11 +352,13 @@ void ADCee::scan() {
     // found value
     analogvals[id] = ADC1->DR;
     // advance at least one track
-    // for scope debug TrackManager::track[1]->setBrake(0);
+#ifdef DEBUG_ADC
+    if (id == 1) TrackManager::track[1]->setBrake(0);
+#endif
     waiting = false;
     id++;
     mask = mask << 1;
-    if (id == NUM_ADC_INPUTS+1) {
+    if (id > highestPin) { // the 1 has been shifted out
       id = 0;
       mask = 1;
     }
@@ -357,18 +369,20 @@ void ADCee::scan() {
     // look for a valid track to sample or until we are around
     while (true) {
       if (mask  & usedpins) {
-    	  // start new ADC aquire on id
+	// start new ADC aquire on id
         ADC1->SQR3 = analogchans[id]; //1st conversion in regular sequence
         ADC1->CR2 |= (1 << 30); //Start 1st conversion SWSTART
-	      // for scope debug TrackManager::track[1]->setBrake(1);
-	      waiting = true;
-	      return;
+#ifdef DEBUG_ADC
+	if (id == 1) TrackManager::track[1]->setBrake(1);
+#endif
+	waiting = true;
+	return;
       }
       id++;
       mask = mask << 1;
-      if (id == NUM_ADC_INPUTS+1) {
-	      id = 0;
-	      mask = 1;
+      if (id > highestPin) {
+      	id = 0;
+      	mask = 1;
       }
     }
   }

DCCWaveform.cpp

@@ -247,6 +247,9 @@ void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repea
   pendingPacket[byteCount] = checksum;
   pendingLength = byteCount + 1;
   pendingRepeats = repeats;
+// DIAG repeated commands (accesories)
+//  if (pendingRepeats > 0)
+//    DIAG(F("Repeats=%d on %s track"), pendingRepeats, isMainTrack ? "MAIN" : "PROG");
   // The resets will be zero not only now but as well repeats packets into the future
   clearResets(repeats+1);
   {

EXRAIL2.cpp

@@ -2,7 +2,7 @@
  *  © 2021 Neil McKechnie
  *  © 2021-2023 Harald Barth
  *  © 2020-2023 Chris Harlow
- *  © 2022 Colin Murdoch
+ *  © 2022-2023 Colin Murdoch
  *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
@@ -52,6 +52,8 @@
 #include "Turnouts.h"
 #include "CommandDistributor.h"
 #include "TrackManager.h"
+#include "Turntables.h"
+#include "IODevice.h"
 
 // Command parsing keywords
 const int16_t HASH_KEYWORD_EXRAIL=15435;    
@@ -94,6 +96,10 @@ LookList *  RMFT2::onAmberLookup=NULL;
 LookList *  RMFT2::onGreenLookup=NULL;
 LookList *  RMFT2::onChangeLookup=NULL;
 LookList *  RMFT2::onClockLookup=NULL;
+#ifndef IO_NO_HAL
+LookList *  RMFT2::onRotateLookup=NULL;
+#endif
+LookList *  RMFT2::onOverloadLookup=NULL;
 
 #define GET_OPCODE GETHIGHFLASH(RMFT2::RouteCode,progCounter)
 #define SKIPOP progCounter+=3
@@ -175,7 +181,10 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
   onGreenLookup=LookListLoader(OPCODE_ONGREEN);
   onChangeLookup=LookListLoader(OPCODE_ONCHANGE);
   onClockLookup=LookListLoader(OPCODE_ONTIME);
-
+#ifndef IO_NO_HAL
+  onRotateLookup=LookListLoader(OPCODE_ONROTATE);
+#endif
+  onOverloadLookup=LookListLoader(OPCODE_ONOVERLOAD);
 
   // Second pass startup, define any turnouts or servos, set signals red
   // add sequences onRoutines to the lookups
@@ -195,6 +204,7 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
     case OPCODE_AT:
     case OPCODE_ATTIMEOUT2:
     case OPCODE_AFTER:
+    case OPCODE_AFTEROVERLOAD:
     case OPCODE_IF:
     case OPCODE_IFNOT: {
       int16_t pin = (int16_t)operand;
@@ -238,7 +248,38 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
       setTurnoutHiddenState(VpinTurnout::create(id,pin));
       break;
     }
-        
+
+#ifndef IO_NO_HAL
+    case OPCODE_DCCTURNTABLE: {
+      VPIN id=operand;
+      int home=getOperand(progCounter,1);
+      setTurntableHiddenState(DCCTurntable::create(id));
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(0,0,home);
+      break;
+    }
+
+    case OPCODE_EXTTTURNTABLE: {
+      VPIN id=operand;
+      VPIN pin=getOperand(progCounter,1);
+      int home=getOperand(progCounter,3);
+      setTurntableHiddenState(EXTTTurntable::create(id,pin));
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(0,0,home);
+      break;
+    }
+
+    case OPCODE_TTADDPOSITION: {
+      VPIN id=operand;
+      int position=getOperand(progCounter,1);
+      int value=getOperand(progCounter,2);
+      int angle=getOperand(progCounter,3);
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(position,value,angle);
+      break;
+    }
+#endif
+
     case OPCODE_AUTOSTART:
       // automatically create a task from here at startup.
       // Removed if (progCounter>0) check 4.2.31 because 
@@ -263,15 +304,21 @@ void RMFT2::setTurnoutHiddenState(Turnout * t) {
   t->setHidden(GETFLASH(getTurnoutDescription(t->getId()))==0x01);     
 }
 
+#ifndef IO_NO_HAL
+void RMFT2::setTurntableHiddenState(Turntable * tto) {
+  tto->setHidden(GETFLASH(getTurntableDescription(tto->getId()))==0x01);
+}
+#endif
+
 char RMFT2::getRouteType(int16_t id) {
   for (int16_t i=0;;i+=2) {
     int16_t rid= GETHIGHFLASHW(routeIdList,i);
-    if (rid==0) break;
+    if (rid==INT16_MAX) break;
     if (rid==id) return 'R';
   }
   for (int16_t i=0;;i+=2) {
     int16_t rid= GETHIGHFLASHW(automationIdList,i);
-    if (rid==0) break;
+    if (rid==INT16_MAX) break;
     if (rid==id) return 'A';
   }
   return 'X';
@@ -599,6 +646,14 @@ void RMFT2::loop2() {
     Turnout::setClosed(operand, true);
     break;
 
+#ifndef IO_NO_HAL
+  case OPCODE_ROTATE:
+    uint8_t activity;
+    activity=getOperand(2);
+    Turntable::setPosition(operand,getOperand(1),activity);
+    break;
+#endif
+
   case OPCODE_REV:
     forward = false;
     driveLoco(operand);
@@ -610,6 +665,7 @@ void RMFT2::loop2() {
       break;
       
   case OPCODE_SPEED:
+    forward=DCC::getThrottleDirection(loco)^invert;
     driveLoco(operand);
     break;
     
@@ -683,7 +739,17 @@ void RMFT2::loop2() {
     }
     if (millis()-waitAfter < 500 ) return;
     break;
-    
+
+  case OPCODE_AFTEROVERLOAD: // waits for the power to be turned back on - either by power routine or button
+    if (!TrackManager::isPowerOn(operand)) {
+      // reset timer to half a second and keep waiting
+      waitAfter=millis();
+      delayMe(50);
+      return;
+    }
+    if (millis()-waitAfter < 500 ) return;
+    break;
+
   case OPCODE_LATCH:
     setFlag(operand,LATCH_FLAG);
     break;
@@ -704,11 +770,11 @@ void RMFT2::loop2() {
     DCC::setThrottle(0,1,true);  // pause all locos on the track
     pausingTask=this;
     break;
-    
+
   case OPCODE_POM:
     if (loco) DCC::writeCVByteMain(loco, operand, getOperand(1));
     break;
-    
+
   case OPCODE_POWEROFF:
     TrackManager::setPower(POWERMODE::OFF);
     TrackManager::setJoin(false);
@@ -787,7 +853,13 @@ void RMFT2::loop2() {
   case OPCODE_IFCLOSED:
     skipIf=Turnout::isThrown(operand);
     break;
-    
+
+#ifndef IO_NO_HAL
+  case OPCODE_IFTTPOSITION: // do block if turntable at this position
+    skipIf=Turntable::getPosition(operand)!=(int)getOperand(1);
+    break;
+#endif
+
   case OPCODE_ENDIF:
     break;
     
@@ -883,23 +955,18 @@ void RMFT2::loop2() {
     while(loopTask) loopTask->kill(F("KILLALL"));
     return;
 
+#ifndef DISABLE_PROG
   case OPCODE_JOIN:
     TrackManager::setPower(POWERMODE::ON);
     TrackManager::setJoin(true);
     CommandDistributor::broadcastPower();
     break;
-    
-  case OPCODE_POWERON:
-    TrackManager::setMainPower(POWERMODE::ON);
-    TrackManager::setJoin(false);
-    CommandDistributor::broadcastPower();
-    break;
-    
+
   case OPCODE_UNJOIN:
     TrackManager::setJoin(false);
     CommandDistributor::broadcastPower();
     break;
-    
+
   case OPCODE_READ_LOCO1: // READ_LOCO is implemented as 2 separate opcodes
     progtrackLocoId=LOCO_ID_WAITING;  // Nothing found yet
     DCC::getLocoId(readLocoCallback);
@@ -920,6 +987,13 @@ void RMFT2::loop2() {
     forward=true;
     invert=false;
     break;
+#endif
+
+  case OPCODE_POWERON:
+    TrackManager::setMainPower(POWERMODE::ON);
+    TrackManager::setJoin(false);
+    CommandDistributor::broadcastPower();
+    break;
     
   case OPCODE_START:
     {
@@ -958,7 +1032,16 @@ void RMFT2::loop2() {
       return;
     }
     break;
-    
+
+#ifndef IO_NO_HAL
+  case OPCODE_WAITFORTT:  // OPCODE_WAITFOR,V(turntable_id)
+    if (Turntable::ttMoving(operand)) {
+      delayMe(100);
+      return;
+    }
+    break;
+#endif
+
   case OPCODE_PRINT:
     printMessage(operand);
     break;
@@ -983,6 +1066,13 @@ void RMFT2::loop2() {
   case OPCODE_ONGREEN:
   case OPCODE_ONCHANGE:
   case OPCODE_ONTIME:
+#ifndef IO_NO_HAL
+  case OPCODE_DCCTURNTABLE: // Turntable definition ignored at runtime
+  case OPCODE_EXTTTURNTABLE:  // Turntable definition ignored at runtime
+  case OPCODE_TTADDPOSITION:  // Turntable position definition ignored at runtime
+  case OPCODE_ONROTATE:
+#endif
+  case OPCODE_ONOVERLOAD:
   
     break;
     
@@ -1127,6 +1217,13 @@ void RMFT2::changeEvent(int16_t vpin, bool change) {
   if (change)  handleEvent(F("CHANGE"),onChangeLookup,vpin);
 }
 
+#ifndef IO_NO_HAL
+void RMFT2::rotateEvent(int16_t turntableId, bool change) {
+  // Hunt or an ONROTATE for this turntable
+  if (change) handleEvent(F("ROTATE"),onRotateLookup,turntableId);
+}
+#endif
+
 void RMFT2::clockEvent(int16_t clocktime, bool change) {
   // Hunt for an ONTIME for this time
   if (Diag::CMD)
@@ -1137,6 +1234,16 @@ void RMFT2::clockEvent(int16_t clocktime, bool change) {
   }
 } 
 
+void RMFT2::powerEvent(int16_t track, bool overload) {
+  // Hunt for an ONOVERLOAD for this item
+  if (Diag::CMD)
+   DIAG(F("Looking for Power event on track : %c"), track);
+  if (overload) {
+    handleEvent(F("POWER"),onOverloadLookup,track);
+  }
+}
+
+
 void RMFT2::handleEvent(const FSH* reason,LookList* handlers, int16_t id) {
   int pc= handlers->find(id);
   if (pc<0) return;

EXRAIL2.h

@@ -1,7 +1,7 @@
 /*
  *  © 2021 Neil McKechnie
  *  © 2020-2022 Chris Harlow
- *  © 2022 Colin Murdoch
+ *  © 2022-2023 Colin Murdoch
  *  © 2023 Harald Barth
  *  All rights reserved.
  *  
@@ -25,6 +25,7 @@
 #include "FSH.h"
 #include "IODevice.h"
 #include "Turnouts.h"
+#include "Turntables.h"
    
 // The following are the operation codes (or instructions) for a kind of virtual machine.
 // Each instruction is normally 3 bytes long with an operation code followed by a parameter.
@@ -35,7 +36,8 @@
 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_AUTOSTART,
+             OPCODE_AT,OPCODE_AFTER,
+             OPCODE_AFTEROVERLOAD,OPCODE_AUTOSTART,
              OPCODE_ATGTE,OPCODE_ATLT,
              OPCODE_ATTIMEOUT1,OPCODE_ATTIMEOUT2,
              OPCODE_LATCH,OPCODE_UNLATCH,OPCODE_SET,OPCODE_RESET,
@@ -45,7 +47,10 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              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,
+#ifndef DISABLE_PROG
+             OPCODE_JOIN,OPCODE_UNJOIN,OPCODE_READ_LOCO1,OPCODE_READ_LOCO2,
+#endif
+             OPCODE_POM,
              OPCODE_START,OPCODE_SETLOCO,OPCODE_SENDLOCO,OPCODE_FORGET,
              OPCODE_PAUSE, OPCODE_RESUME,OPCODE_POWEROFF,OPCODE_POWERON,
              OPCODE_ONCLOSE, OPCODE_ONTHROW, OPCODE_SERVOTURNOUT, OPCODE_PINTURNOUT,
@@ -59,6 +64,11 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_ONCHANGE,
              OPCODE_ONCLOCKTIME,
              OPCODE_ONTIME,
+#ifndef IO_NO_HAL
+             OPCODE_TTADDPOSITION,OPCODE_DCCTURNTABLE,OPCODE_EXTTTURNTABLE,
+             OPCODE_ONROTATE,OPCODE_ROTATE,OPCODE_IFTTPOSITION,OPCODE_WAITFORTT,
+#endif
+             OPCODE_ONOVERLOAD,
 
              // OPcodes below this point are skip-nesting IF operations
              // placed here so that they may be skipped as a group
@@ -127,6 +137,8 @@ class LookList {
     static void activateEvent(int16_t addr, bool active);
     static void changeEvent(int16_t id, bool change);
     static void clockEvent(int16_t clocktime, bool change);
+    static void rotateEvent(int16_t id, bool change);
+    static void powerEvent(int16_t track, bool overload);
     static const int16_t SERVO_SIGNAL_FLAG=0x4000;
     static const int16_t ACTIVE_HIGH_SIGNAL_FLAG=0x2000;
     static const int16_t DCC_SIGNAL_FLAG=0x1000;
@@ -141,6 +153,8 @@ class LookList {
   static const FSH *  getTurnoutDescription(int16_t id);
   static const FSH *  getRosterName(int16_t id);
   static const FSH *  getRosterFunctions(int16_t id);
+  static const FSH *  getTurntableDescription(int16_t id);
+  static const FSH *  getTurntablePositionDescription(int16_t turntableId, uint8_t positionId);
     
 private: 
     static void ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
@@ -153,6 +167,9 @@ private:
     static bool isSignal(int16_t id,char rag); 
     static int16_t getSignalSlot(int16_t id);
     static void setTurnoutHiddenState(Turnout * t);
+    #ifndef IO_NO_HAL
+    static void setTurntableHiddenState(Turntable * tto);
+    #endif
     static LookList* LookListLoader(OPCODE op1,
                       OPCODE op2=OPCODE_ENDEXRAIL,OPCODE op3=OPCODE_ENDEXRAIL);
     static void handleEvent(const FSH* reason,LookList* handlers, int16_t id);
@@ -185,6 +202,10 @@ private:
    static LookList * onGreenLookup;
    static LookList * onChangeLookup;
    static LookList * onClockLookup;
+#ifndef IO_NO_HAL
+   static LookList * onRotateLookup;
+#endif
+   static LookList * onOverloadLookup;
     
   // Local variables - exist for each instance/task 
     RMFT2 *next;   // loop chain 

EXRAIL2MacroReset.h

@@ -1,6 +1,6 @@
 /*
  *  © 2020-2022 Chris Harlow. All rights reserved.
- *  © 2022 Colin Murdoch
+ *  © 2022-2023 Colin Murdoch
  *  © 2023 Harald Barth
  *  
  *  This file is part of CommandStation-EX
@@ -27,6 +27,7 @@
 #undef ACTIVATE
 #undef ACTIVATEL
 #undef AFTER
+#undef AFTEROVERLOAD
 #undef ALIAS
 #undef AMBER
 #undef ANOUT
@@ -40,6 +41,7 @@
 #undef CALL 
 #undef CLOSE 
 #undef DCC_SIGNAL
+#undef DCC_TURNTABLE
 #undef DEACTIVATE
 #undef DEACTIVATEL
 #undef DELAY
@@ -51,8 +53,9 @@
 #undef ENDEXRAIL 
 #undef ENDIF  
 #undef ENDTASK
-#undef ESTOP 
-#undef EXRAIL  
+#undef ESTOP
+#undef EXRAIL
+#undef EXTT_TURNTABLE
 #undef FADE
 #undef FOFF
 #undef FOLLOW 
@@ -75,6 +78,7 @@
 #undef IFRESERVE
 #undef IFTHROWN
 #undef IFTIMEOUT
+#undef IFTTPOSITION
 #undef IFRE
 #undef INVERT_DIRECTION 
 #undef JOIN 
@@ -93,15 +97,19 @@
 #undef ONTIME
 #undef ONCLOCKTIME
 #undef ONCLOCKMINS
+#undef ONOVERLOAD
 #undef ONGREEN
 #undef ONRED
+#undef ONROTATE
 #undef ONTHROW 
 #undef ONCHANGE
 #undef PARSE
 #undef PAUSE
 #undef PIN_TURNOUT 
 #undef PRINT
+#ifndef DISABLE_PROG
 #undef POM
+#endif
 #undef POWEROFF
 #undef POWERON
 #undef READ_LOCO 
@@ -111,7 +119,9 @@
 #undef RESUME 
 #undef RETURN 
 #undef REV
-#undef ROSTER 
+#undef ROSTER
+#undef ROTATE
+#undef ROTATE_DCC
 #undef ROUTE
 #undef SENDLOCO 
 #undef SEQUENCE 
@@ -134,7 +144,8 @@
 #undef SPEED 
 #undef START 
 #undef STOP 
-#undef THROW  
+#undef THROW
+#undef TT_ADDPOSITION
 #undef TURNOUT 
 #undef TURNOUTL
 #undef UNJOIN
@@ -142,6 +153,9 @@
 #undef VIRTUAL_SIGNAL
 #undef VIRTUAL_TURNOUT
 #undef WAITFOR
+#ifndef IO_NO_HAL
+#undef WAITFORTT
+#endif
 #undef WITHROTTLE
 #undef XFOFF
 #undef XFON
@@ -150,6 +164,7 @@
 #define ACTIVATE(addr,subaddr)
 #define ACTIVATEL(addr)
 #define AFTER(sensor_id)
+#define AFTEROVERLOAD(track_id)
 #define ALIAS(name,value...)
 #define AMBER(signal_id)
 #define ANOUT(vpin,value,param1,param2)
@@ -163,6 +178,7 @@
 #define CALL(route) 
 #define CLOSE(id) 
 #define DCC_SIGNAL(id,add,subaddr)
+#define DCC_TURNTABLE(id,home,description)
 #define DEACTIVATE(addr,subaddr)
 #define DEACTIVATEL(addr)
 #define DELAY(mindelay)
@@ -175,7 +191,8 @@
 #define ENDIF  
 #define ENDTASK
 #define ESTOP 
-#define EXRAIL  
+#define EXRAIL
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description)
 #define FADE(pin,value,ms)
 #define FOFF(func)
 #define FOLLOW(route) 
@@ -198,6 +215,7 @@
 #define IFTHROWN(turnout_id) 
 #define IFRESERVE(block)
 #define IFTIMEOUT
+#define IFTTPOSITION(turntable_id,position)
 #define IFRE(sensor_id,value)
 #define INVERT_DIRECTION 
 #define JOIN 
@@ -213,18 +231,22 @@
 #define ONTIME(value)
 #define ONCLOCKTIME(hours,mins)
 #define ONCLOCKMINS(mins)
+#define ONOVERLOAD(track_id)
 #define ONDEACTIVATE(addr,subaddr)
 #define ONDEACTIVATEL(linear) 
 #define ONCLOSE(turnout_id)
 #define ONGREEN(signal_id) 
-#define ONRED(signal_id) 
+#define ONRED(signal_id)
+#define ONROTATE(turntable_id)
 #define ONTHROW(turnout_id) 
 #define ONCHANGE(sensor_id)
 #define PAUSE
 #define PIN_TURNOUT(id,pin,description...) 
 #define PRINT(msg) 
 #define PARSE(msg)
+#ifndef DISABLE_PROG
 #define POM(cv,value)
+#endif
 #define POWEROFF
 #define POWERON
 #define READ_LOCO 
@@ -234,8 +256,10 @@
 #define RESUME 
 #define RETURN 
 #define REV(speed) 
-#define ROUTE(id,description)
+#define ROTATE(turntable_id,position,activity)
+#define ROTATE_DCC(turntable_id,position)
 #define ROSTER(cab,name,funcmap...)
+#define ROUTE(id,description)
 #define SENDLOCO(cab,route) 
 #define SEQUENCE(id) 
 #define SERIAL(msg) 
@@ -257,7 +281,8 @@
 #define SPEED(speed) 
 #define START(route) 
 #define STOP 
-#define THROW(id)  
+#define THROW(id)
+#define TT_ADDPOSITION(turntable_id,position,value,angle,description...)
 #define TURNOUT(id,addr,subaddr,description...) 
 #define TURNOUTL(id,addr,description...) 
 #define UNJOIN 
@@ -265,6 +290,9 @@
 #define VIRTUAL_SIGNAL(id) 
 #define VIRTUAL_TURNOUT(id,description...) 
 #define WAITFOR(pin)
+#ifndef IO_NO_HAL
+#define WAITFORTT(turntable_id)
+#endif
 #define WITHROTTLE(msg)
 #define XFOFF(cab,func)
 #define XFON(cab,func)

EXRAILMacros.h

@@ -1,7 +1,7 @@
 /*
  *  © 2021 Neil McKechnie
  *  © 2020-2022 Chris Harlow
- *  © 2022 Colin Murdoch
+ *  © 2022-2023 Colin Murdoch
  *  © 2023 Harald Barth
  *  All rights reserved.
  *  
@@ -54,6 +54,8 @@
 
 // helper macro for turnout descriptions, creates NULL for missing description
 #define O_DESC(id, desc) case id: return ("" desc)[0]?F("" desc):NULL;
+// helper macro for turntable descriptions, creates NULL for missing description
+#define T_DESC(tid,pid,desc) if(turntableId==tid && positionId==pid) return ("" desc)[0]?F("" desc):NULL;
 // helper macro for turnout description as HIDDEN 
 #define HIDDEN "\x01"
 
@@ -67,10 +69,13 @@
 #define ALIAS(name,value...) const int name= 1##value##0 ==10 ? -__COUNTER__  : value##0/10; 
 #include "myAutomation.h"
 
-// Pass 1h Implements HAL macro by creating exrailHalSetup function 
+// Pass 1h Implements HAL macro by creating exrailHalSetup function
+// Also allows creating EXTurntable object
 #include "EXRAIL2MacroReset.h"
 #undef HAL
 #define HAL(haltype,params...)  haltype::create(params);
+#undef EXTT_TURNTABLE
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) EXTurntable::create(vpin,1,i2c_address);
 void exrailHalSetup() {
    #include "myAutomation.h"
 }
@@ -81,14 +86,14 @@ void exrailHalSetup() {
 #define ROUTE(id, description) id,
 const int16_t HIGHFLASH RMFT2::routeIdList[]= {
     #include "myAutomation.h"
-    0}; 
+    INT16_MAX};
 // Pass 2a create throttle automation list 
 #include "EXRAIL2MacroReset.h"
 #undef AUTOMATION
 #define AUTOMATION(id, description) id,
 const int16_t HIGHFLASH RMFT2::automationIdList[]= {
     #include "myAutomation.h"
-    0}; 
+    INT16_MAX};
 
 // Pass 3 Create route descriptions:
 #undef ROUTE
@@ -187,10 +192,35 @@ const FSH * RMFT2::getTurnoutDescription(int16_t turnoutid) {
      return NULL;
 }
 
+// Pass to get turntable descriptions (optional)
+#include "EXRAIL2MacroReset.h"
+#undef DCC_TURNTABLE
+#define DCC_TURNTABLE(id,home,description...) O_DESC(id,description)
+#undef EXTT_TURNTABLE
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) O_DESC(id,description)
+
+const FSH * RMFT2::getTurntableDescription(int16_t turntableId) {
+   switch (turntableId) {
+      #include "myAutomation.h"
+   default:break;
+   }
+   return NULL;
+}
+
+// Pass to get turntable position descriptions (optional)
+#include "EXRAIL2MacroReset.h"
+#undef TT_ADDPOSITION
+#define TT_ADDPOSITION(turntable_id,position,value,home,description...) T_DESC(turntable_id,position,description)
+
+const FSH * RMFT2::getTurntablePositionDescription(int16_t turntableId, uint8_t positionId) {
+   #include "myAutomation.h"
+   return NULL;
+}
+
 // Pass 6: Roster IDs (count)
 #include "EXRAIL2MacroReset.h"
 #undef ROSTER
-#define ROSTER(cabid,name,funcmap...) +1
+#define ROSTER(cabid,name,funcmap...) +(cabid <= 0 ? 0 : 1)
 const byte RMFT2::rosterNameCount=0
    #include "myAutomation.h"
    ;
@@ -201,7 +231,7 @@ const byte RMFT2::rosterNameCount=0
 #define ROSTER(cabid,name,funcmap...) cabid,
 const int16_t HIGHFLASH  RMFT2::rosterIdList[]={
    #include "myAutomation.h"
-   0};
+   INT16_MAX};
 
 // Pass 7: Roster names getter
 #include "EXRAIL2MacroReset.h"
@@ -223,7 +253,7 @@ const FSH * RMFT2::getRosterFunctions(int16_t id) {
       #include "myAutomation.h"
    default: break; 
    }   
-   return F("");
+   return NULL;
 } 
 
 // Pass 8 Signal definitions
@@ -256,6 +286,7 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #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 AFTEROVERLOAD(track_id) OPCODE_AFTEROVERLOAD,V(TRACK_NUMBER_##track_id),
 #define ALIAS(name,value...) 
 #define AMBER(signal_id) OPCODE_AMBER,V(signal_id),
 #define ANOUT(vpin,value,param1,param2) OPCODE_SERVO,V(vpin),OPCODE_PAD,V(value),OPCODE_PAD,V(param1),OPCODE_PAD,V(param2),
@@ -268,6 +299,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define BROADCAST(msg) PRINT(msg)
 #define CALL(route) OPCODE_CALL,V(route),
 #define CLOSE(id)  OPCODE_CLOSE,V(id),
+#ifndef IO_NO_HAL
+#define DCC_TURNTABLE(id,home,description...) OPCODE_DCCTURNTABLE,V(id),OPCODE_PAD,V(home),
+#endif
 #define DEACTIVATE(addr,subaddr) OPCODE_DCCACTIVATE,V(addr<<3 | subaddr<<1),
 #define DEACTIVATEL(addr) OPCODE_DCCACTIVATE,V((addr+3)<<1),
 #define DELAY(ms) ms<30000?OPCODE_DELAYMS:OPCODE_DELAY,V(ms/(ms<30000?1L:100L)),
@@ -281,7 +315,10 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ENDIF  OPCODE_ENDIF,0,0,
 #define ENDTASK OPCODE_ENDTASK,0,0,
 #define ESTOP OPCODE_SPEED,V(1), 
-#define EXRAIL 
+#define EXRAIL
+#ifndef IO_NO_HAL
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) OPCODE_EXTTTURNTABLE,V(id),OPCODE_PAD,V(vpin),OPCODE_PAD,V(i2c_address),OPCODE_PAD,V(home),
+#endif
 #define FADE(pin,value,ms) OPCODE_SERVO,V(pin),OPCODE_PAD,V(value),OPCODE_PAD,V(PCA9685::ProfileType::UseDuration|PCA9685::NoPowerOff),OPCODE_PAD,V(ms/100L),
 #define FOFF(func) OPCODE_FOFF,V(func),
 #define FOLLOW(route) OPCODE_FOLLOW,V(route),
@@ -304,6 +341,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define IFRESERVE(block) OPCODE_IFRESERVE,V(block),
 #define IFTHROWN(turnout_id) OPCODE_IFTHROWN,V(turnout_id),
 #define IFTIMEOUT OPCODE_IFTIMEOUT,0,0,
+#ifndef IO_NO_HAL
+#define IFTTPOSITION(id,position) OPCODE_IFTTPOSITION,V(id),OPCODE_PAD,V(position),
+#endif
 #define IFRE(sensor_id,value) OPCODE_IFRE,V(sensor_id),OPCODE_PAD,V(value),
 #define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,0,0,
 #define JOIN OPCODE_JOIN,0,0,
@@ -320,15 +360,21 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ONTIME(value) OPCODE_ONTIME,V(value),  
 #define ONCLOCKTIME(hours,mins) OPCODE_ONTIME,V((STRIP_ZERO(hours)*60)+STRIP_ZERO(mins)),
 #define ONCLOCKMINS(mins) ONCLOCKTIME(25,mins)
+#define ONOVERLOAD(track_id) OPCODE_ONOVERLOAD,V(TRACK_NUMBER_##track_id),
 #define ONDEACTIVATE(addr,subaddr) OPCODE_ONDEACTIVATE,V(addr<<2|subaddr),
 #define ONDEACTIVATEL(linear) OPCODE_ONDEACTIVATE,V(linear+3),
 #define ONGREEN(signal_id) OPCODE_ONGREEN,V(signal_id),
 #define ONRED(signal_id) OPCODE_ONRED,V(signal_id),
+#ifndef IO_NO_HAL
+#define ONROTATE(id) OPCODE_ONROTATE,V(id),
+#endif
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
 #define ONCHANGE(sensor_id) OPCODE_ONCHANGE,V(sensor_id),
 #define PAUSE OPCODE_PAUSE,0,0,
-#define PIN_TURNOUT(id,pin,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin), 
+#define PIN_TURNOUT(id,pin,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin),
+#ifndef DISABLE_PROG
 #define POM(cv,value) OPCODE_POM,V(cv),OPCODE_PAD,V(value),
+#endif
 #define POWEROFF OPCODE_POWEROFF,0,0,
 #define POWERON OPCODE_POWERON,0,0,
 #define PRINT(msg) OPCODE_PRINT,V(__COUNTER__ - StringMacroTracker2),
@@ -341,6 +387,10 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define RETURN OPCODE_RETURN,0,0,
 #define REV(speed) OPCODE_REV,V(speed),
 #define ROSTER(cabid,name,funcmap...)
+#ifndef IO_NO_HAL
+#define ROTATE(id,position,activity) OPCODE_ROTATE,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(EXTurntable::activity),
+#define ROTATE_DCC(id,position) OPCODE_ROTATE,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(0),
+#endif
 #define ROUTE(id, description)  OPCODE_ROUTE, V(id), 
 #define SENDLOCO(cab,route) OPCODE_SENDLOCO,V(cab),OPCODE_PAD,V(route),
 #define SEQUENCE(id)  OPCODE_SEQUENCE, V(id), 
@@ -364,6 +414,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define START(route) OPCODE_START,V(route),
 #define STOP OPCODE_SPEED,V(0), 
 #define THROW(id)  OPCODE_THROW,V(id),
+#ifndef IO_NO_HAL
+#define TT_ADDPOSITION(id,position,value,angle,description...) OPCODE_TTADDPOSITION,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(value),OPCODE_PAD,V(angle),
+#endif
 #define TURNOUT(id,addr,subaddr,description...) OPCODE_TURNOUT,V(id),OPCODE_PAD,V(addr),OPCODE_PAD,V(subaddr),
 #define TURNOUTL(id,addr,description...) TURNOUT(id,(addr-1)/4+1,(addr-1)%4, description)
 #define UNJOIN OPCODE_UNJOIN,0,0,
@@ -372,6 +425,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define VIRTUAL_TURNOUT(id,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(0), 
 #define WITHROTTLE(msg) PRINT(msg)
 #define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
+#ifndef IO_NO_HAL
+#define WAITFORTT(turntable_id) OPCODE_WAITFORTT,V(turntable_id),
+#endif
 #define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),
 #define XFON(cab,func) OPCODE_XFON,V(cab),OPCODE_PAD,V(func),
 

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "devel-202304172140Z"
+#define GITHUB_SHA "devel-202308302157Z"

IODevice.cpp

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

IODevice.h

@@ -27,12 +27,6 @@
 // Define symbol DIAG_LOOPTIMES to enable CS loop execution time to be reported
 //#define DIAG_LOOPTIMES
 
-// Define symbol IO_NO_HAL to reduce FLASH footprint when HAL features not required
-// The HAL is disabled by default on Nano and Uno platforms, because of limited flash space.
-#if defined(ARDUINO_AVR_NANO) || defined(ARDUINO_AVR_UNO) 
-#define IO_NO_HAL
-#endif
-
 // Define symbol IO_SWITCH_OFF_SERVO to set the PCA9685 output to 0 when an 
 // animation has completed.  This switches off the servo motor, preventing 
 // the continuous buzz sometimes found on servos, and reducing the 
@@ -160,6 +154,9 @@ public:
   // exists checks whether there is a device owning the specified vpin
   static bool exists(VPIN vpin);
 
+  // getStatus returns the state of the device at the specified vpin
+  static uint8_t getStatus(VPIN vpin);
+
   // Enable shared interrupt on specified pin for GPIO extender modules.  The extender module
   // should pull down this pin when requesting a scan.  The pin may be shared by multiple modules.
   // Without the shared interrupt, input states are scanned periodically to detect changes on 
@@ -383,6 +380,7 @@ private:
   uint8_t *_pinInUse; 
 };
 
+#ifndef IO_NO_HAL
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 /*
  * IODevice subclass for EX-Turntable.
@@ -411,10 +409,13 @@ private:
   void _begin() override;
   void _loop(unsigned long currentMicros) override;
   int _read(VPIN vpin) override;
+  void _broadcastStatus (VPIN vpin, uint8_t status);
   void _writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) override;
   void _display() override;
   uint8_t _stepperStatus;
+  uint8_t _previousStatus;
 };
+#endif
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 

IO_EXTurntable.cpp

@@ -20,20 +20,21 @@
 /*
 * The IO_EXTurntable device driver is used to control a turntable via an Arduino with a stepper motor over I2C.
 *
-* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/Turntable-EX) and contains the stepper motor logic.
+* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/EX-Turntable) and contains the stepper motor logic.
 *
-* This device driver sends a step position to Turntable-EX to indicate the step position to move to using either of these commands:
+* This device driver sends a step position to EX-Turntable to indicate the step position to move to using either of these commands:
 * <D TT vpin steps activity> in the serial console
 * MOVETT(vpin, steps, activity) in EX-RAIL
 * Refer to the documentation for further information including the valid activities.
 */
 
-#ifndef IO_EXTurntable_h
-#define IO_EXTurntable_h
-
 #include "IODevice.h"
 #include "I2CManager.h"
 #include "DIAG.h"
+#include "Turntables.h"
+#include "CommandDistributor.h"
+
+#ifndef IO_NO_HAL
 
 void EXTurntable::create(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
   new EXTurntable(firstVpin, nPins, I2CAddress);
@@ -44,18 +45,21 @@ EXTurntable::EXTurntable(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
   _firstVpin = firstVpin;
   _nPins = nPins;
   _I2CAddress = I2CAddress;
+  _stepperStatus = 0;
+  _previousStatus = 0;
   addDevice(this);
 }
 
 // Initialisation of EXTurntable
 void EXTurntable::_begin() {
   I2CManager.begin();
-  I2CManager.setClock(1000000);
   if (I2CManager.exists(_I2CAddress)) {
+    DIAG(F("EX-Turntable device found, I2C:%s"), _I2CAddress.toString());
 #ifdef DIAG_IO
     _display();
 #endif
   } else {
+    DIAG(F("EX-Turntable I2C:%s device not found"), _I2CAddress.toString());
     _deviceState = DEVSTATE_FAILED;
   }
 }
@@ -67,15 +71,17 @@ void EXTurntable::_loop(unsigned long currentMicros) {
   uint8_t readBuffer[1];
   I2CManager.read(_I2CAddress, readBuffer, 1);
   _stepperStatus = readBuffer[0];
-  // DIAG(F("Turntable-EX returned status: %d"), _stepperStatus);
-  delayUntil(currentMicros + 500000);  // Wait 500ms before checking again, turntables turn slowly
+  if (_stepperStatus != _previousStatus && _stepperStatus == 0) { // Broadcast when a rotation finishes
+    _broadcastStatus(_firstVpin, _stepperStatus);
+    _previousStatus = _stepperStatus;
+  }
+  delayUntil(currentMicros + 100000);  // Wait 100ms before checking again
 }
 
 // Read returns status as obtained in our loop.
 // Return false if our status value is invalid.
 int EXTurntable::_read(VPIN vpin) {
   if (_deviceState == DEVSTATE_FAILED) return 0;
-  // DIAG(F("_read status: %d"), _stepperStatus);
   if (_stepperStatus > 1) {
     return false;
   } else {
@@ -83,6 +89,15 @@ int EXTurntable::_read(VPIN vpin) {
   }
 }
 
+// If a status change has occurred for a turntable object, broadcast it
+void EXTurntable::_broadcastStatus (VPIN vpin, uint8_t status) {
+  Turntable *tto = Turntable::getByVpin(vpin);
+  if (tto) {
+    tto->setMoving(status);
+    CommandDistributor::broadcastTurntable(tto->getId(), tto->getPosition(), status);
+  }
+}
+
 // writeAnalogue to send the steps and activity to Turntable-EX.
 // Sends 3 bytes containing the MSB and LSB of the step count, and activity.
 // value contains the steps, bit shifted to MSB + LSB.
@@ -100,6 +115,7 @@ int EXTurntable::_read(VPIN vpin) {
 // Acc_Off = 9           // Turn accessory pin off
 void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) {
   if (_deviceState == DEVSTATE_FAILED) return;
+  if (value < 0) return;
   uint8_t stepsMSB = value >> 8;
   uint8_t stepsLSB = value & 0xFF;
 #ifdef DIAG_IO
@@ -109,6 +125,8 @@ void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_
     _I2CAddress.toString(), stepsMSB, stepsLSB, activity);
 #endif
   _stepperStatus = 1;     // Tell the device driver Turntable-EX is busy
+  _previousStatus = _stepperStatus;
+  _broadcastStatus(vpin, _stepperStatus); // Broadcast when the rotation starts
   I2CManager.write(_I2CAddress, 3, stepsMSB, stepsLSB, activity);
 }
 

IO_PCA9555.h

@@ -0,0 +1,112 @@
+/*
+ *  © 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_pca9555_h
+#define io_pca9555_h
+
+#include "IO_GPIOBase.h"
+#include "FSH.h"
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ * IODevice subclass for PCA9555 16-bit I/O expander (NXP & Texas Instruments).
+ */
+ 
+class PCA9555 : public GPIOBase<uint16_t> {
+public:
+  static void create(VPIN vpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1) {
+    if (checkNoOverlap(vpin, nPins, i2cAddress)) new PCA9555(vpin,nPins, i2cAddress, interruptPin);
+  }
+  
+  // Constructor
+  PCA9555(VPIN vpin, int nPins, uint8_t I2CAddress, int interruptPin=-1) 
+    : GPIOBase<uint16_t>((FSH *)F("PCA9555"), vpin, nPins, I2CAddress, interruptPin) 
+  {
+    requestBlock.setRequestParams(_I2CAddress, inputBuffer, sizeof(inputBuffer),
+      outputBuffer, sizeof(outputBuffer));
+    outputBuffer[0] = REG_INPUT_P0;
+  }
+
+private:
+  void _writeGpioPort() override {
+    I2CManager.write(_I2CAddress, 3, REG_OUTPUT_P0, _portOutputState, _portOutputState>>8);
+  }
+  void _writePullups() override {
+    // Do nothing, pull-ups are always in place for input ports
+    // This function is here for HAL GPIOBase API compatibilitiy
+      
+  }
+  void _writePortModes() override {
+    // Write 0 to REG_CONF_P0 & REG_CONF_P1 for in-use pins that are outputs, 1 for others.
+    // PCA9555 & TCA9555, Interrupt is always enabled for raising and falling edge
+    uint16_t temp = ~(_portMode & _portInUse);
+    I2CManager.write(_I2CAddress, 3, REG_CONF_P0, temp, temp>>8);    
+  }
+  void _readGpioPort(bool immediate) override {
+    if (immediate) {
+      uint8_t buffer[2];
+      I2CManager.read(_I2CAddress, buffer, 2, 1, REG_INPUT_P0);
+      _portInputState = ((uint16_t)buffer[1]<<8) | buffer[0];
+      /* PCA9555 Int bug fix, from PCA9555 datasheet: "must change command byte to something besides 00h 
+       * after a Read operation to the PCA9555 device or before reading from 
+       * another device"
+       * Recommended solution, read from REG_OUTPUT_P0, then do nothing with the received data
+       * Issue not seen during testing, uncomment if needed 
+       */
+      //I2CManager.read(_I2CAddress, buffer, 2, 1, REG_OUTPUT_P0);
+    } else {
+      // Queue new request
+      requestBlock.wait(); // Wait for preceding operation to complete
+      // Issue new request to read GPIO register
+      I2CManager.queueRequest(&requestBlock);
+    }
+  }
+  // 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[1]<<8) | inputBuffer[0];
+    else  
+      _portInputState = 0xffff;
+  }
+
+  void _setupDevice() override {
+    // HAL API calls
+    _writePortModes();
+    _writePullups();
+    _writeGpioPort();
+  }
+ 
+  uint8_t inputBuffer[2];
+  uint8_t outputBuffer[1];
+ 
+
+  enum {
+    REG_INPUT_P0 = 0x00,
+    REG_INPUT_P1 = 0x01,
+    REG_OUTPUT_P0 = 0x02,
+    REG_OUTPUT_P1 = 0x03,
+    REG_POL_INV_P0 = 0x04,
+    REG_POL_INV_P1 = 0x05,
+    REG_CONF_P0 = 0x06,
+    REG_CONF_P1 = 0x07,    
+  };
+
+};
+
+#endif

IO_RotaryEncoder.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2023, Peter Cole. All rights reserved.
  *  © 2022, Peter Cole. All rights reserved.
  *
  *  This file is part of EX-CommandStation
@@ -28,9 +29,23 @@
 * ONCHANGE(vpin) - flag when the rotary encoder position has changed from the previous position
 * IFRE(vpin, position) - test to see if specified rotary encoder position has been received
 *
-* Further to this, feedback can be sent to the rotary encoder by using 2 Vpins, and sending a SET()/RESET() to the second Vpin.
+* Feedback can also be sent to the rotary encoder by using 2 Vpins, and sending a SET()/RESET() to the second Vpin.
 * A SET(vpin) will flag that a turntable (or anything else) is in motion, and a RESET(vpin) that the motion has finished.
 *
+* In addition, defining a third Vpin will allow a position number to be sent so that when an EXRAIL automation or some other
+* activity has moved a turntable, the position can be reflected in the rotary encoder software. This can be accomplished
+* using the EXRAIL SERVO(vpin, position, profile) command, where:
+* - vpin = the third defined Vpin (any other is ignored)
+* - position = the defined position in the DCC-EX Rotary Encoder software, 0 (Home) to 255
+* - profile = Must be defined as per the SERVO() command, but is ignored as it has no relevance
+*
+* Defining in myAutomation.h requires the device driver to be included in addition to the HAL() statement. Examples:
+*
+* #include "IO_RotaryEncoder.h"
+* HAL(RotaryEncoder, 700, 1, 0x70)    // Define single Vpin, no feedback or position sent to rotary encoder software
+* HAL(RotaryEncoder, 700, 2, 0x70)    // Define two Vpins, feedback only sent to rotary encoder software
+* HAL(RotaryEncoder, 700, 3, 0x70)    // Define three Vpins, can send feedback and position update to rotary encoder software
+*
 * Refer to the documentation for further information including the valid activities and examples.
 */
 
@@ -44,58 +59,88 @@
 
 class RotaryEncoder : public IODevice {
 public:
-  // Constructor
-  RotaryEncoder(VPIN firstVpin, int nPins, I2CAddress i2cAddress){
-    _firstVpin = firstVpin;
-    _nPins = nPins;
-    _I2CAddress = i2cAddress;
-    addDevice(this);
-  }
+  
   static void create(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
     if (checkNoOverlap(firstVpin, nPins, i2cAddress)) new RotaryEncoder(firstVpin, nPins, i2cAddress);
   }
 
 private:
+  // Constructor
+  RotaryEncoder(VPIN firstVpin, int nPins, I2CAddress i2cAddress){
+    _firstVpin = firstVpin;
+    _nPins = nPins;
+    if (_nPins > 3) {
+      _nPins = 3;
+      DIAG(F("RotaryEncoder WARNING:%d vpins defined, only 3 supported"), _nPins);
+    }
+    _I2CAddress = i2cAddress;
+    addDevice(this);
+  }
+
   // Initiate the device
   void _begin() {
+    uint8_t _status;
+    // Attempt to initilalise device
     I2CManager.begin();
     if (I2CManager.exists(_I2CAddress)) {
-      byte _getVersion[1] = {RE_VER};
-      I2CManager.read(_I2CAddress, _versionBuffer, 3, _getVersion, 1);
-      _majorVer = _versionBuffer[0];
-      _minorVer = _versionBuffer[1];
-      _patchVer = _versionBuffer[2];
-      _buffer[0] = RE_OP;
-      I2CManager.write(_I2CAddress, _buffer, 1);
+      // Send RE_RDY, must receive RE_RDY to be online
+      _sendBuffer[0] = RE_RDY;
+      _status = I2CManager.read(_I2CAddress, _rcvBuffer, 1, _sendBuffer, 1);
+      if (_status == I2C_STATUS_OK) {
+        if (_rcvBuffer[0] == RE_RDY) {
+          _sendBuffer[0] = RE_VER;
+          if (I2CManager.read(_I2CAddress, _versionBuffer, 3, _sendBuffer, 1) == I2C_STATUS_OK) {
+            _majorVer = _versionBuffer[0];
+            _minorVer = _versionBuffer[1];
+            _patchVer = _versionBuffer[2];
+          }
+        } else {
+          DIAG(F("RotaryEncoder I2C:%s garbage received: %d"), _I2CAddress.toString(), _rcvBuffer[0]);
+          _deviceState = DEVSTATE_FAILED;
+          return;
+        }
+      } else {
+        DIAG(F("RotaryEncoder I2C:%s ERROR connecting"), _I2CAddress.toString());
+        _deviceState = DEVSTATE_FAILED;
+        return;
+      }
 #ifdef DIAG_IO
       _display();
 #endif
     } else {
-        _deviceState = DEVSTATE_FAILED;
+      DIAG(F("RotaryEncoder I2C:%s device not found"), _I2CAddress.toString());
+      _deviceState = DEVSTATE_FAILED;
     }
   }
 
   void _loop(unsigned long currentMicros) override {
-    I2CManager.read(_I2CAddress, _buffer, 1);
-    _position = _buffer[0];
-    // This here needs to have a change check, ie. position is a different value.
-  #if defined(EXRAIL_ACTIVE)
+    if (_deviceState == DEVSTATE_FAILED) return;  // Return if device has failed
+    if (_i2crb.isBusy()) return;                  // Return if I2C operation still in progress
+
+    if (currentMicros - _lastPositionRead > _positionRefresh) {
+      _lastPositionRead = currentMicros;
+      _sendBuffer[0] = RE_READ;
+      I2CManager.read(_I2CAddress, _rcvBuffer, 1, _sendBuffer, 1, &_i2crb); // Read position from encoder
+      _position = _rcvBuffer[0];
+      // If EXRAIL is active, we need to trigger the ONCHANGE() event handler if it's in use
+#if defined(EXRAIL_ACTIVE)
       if (_position != _previousPosition) {
         _previousPosition = _position;
-        RMFT2::changeEvent(_firstVpin,1);
+        RMFT2::changeEvent(_firstVpin, 1);
       } else {
-        RMFT2::changeEvent(_firstVpin,0);
+        RMFT2::changeEvent(_firstVpin, 0);
       }
-  #endif
-    delayUntil(currentMicros + 100000);
+#endif
+    }
   }
 
-  // Device specific read function
+  // Return the position sent by the rotary encoder software
   int _readAnalogue(VPIN vpin) override {
     if (_deviceState == DEVSTATE_FAILED) return 0;
     return _position;
   }
 
+  // Send the feedback value to the rotary encoder software
   void _write(VPIN vpin, int value) override {
     if (vpin == _firstVpin + 1) {
       if (value != 0) value = 0x01;
@@ -103,6 +148,19 @@ private:
       I2CManager.write(_I2CAddress, _feedbackBuffer, 2);
     }
   }
+
+  // Send a position update to the rotary encoder software
+  // To be valid, must be 0 to 255, and different to the current position
+  // If the current position is the same, it was initiated by the rotary encoder
+  void _writeAnalogue(VPIN vpin, int position, uint8_t profile, uint16_t duration) override {
+    if (vpin == _firstVpin + 2) {
+      if (position >= 0 && position <= 255 && position != _position) {
+        byte newPosition = position & 0xFF;
+        byte _positionBuffer[2] = {RE_MOVE, newPosition};
+        I2CManager.write(_I2CAddress, _positionBuffer, 2);
+      }
+    }
+  }
   
   void _display() override {
     DIAG(F("Rotary Encoder I2C:%s v%d.%d.%d Configured on VPIN:%u-%d %S"), _I2CAddress.toString(), _majorVer, _minorVer, _patchVer,
@@ -112,14 +170,21 @@ private:
   int8_t _position;
   int8_t _previousPosition = 0;
   uint8_t _versionBuffer[3];
-  uint8_t _buffer[1];
+  uint8_t _sendBuffer[1];
+  uint8_t _rcvBuffer[1];
   uint8_t _majorVer = 0;
   uint8_t _minorVer = 0;
   uint8_t _patchVer = 0;
+  I2CRB _i2crb;
+  unsigned long _lastPositionRead = 0;
+  const unsigned long _positionRefresh = 100000UL;    // Delay refreshing position for 100ms
 
   enum {
-    RE_VER = 0xA0,   // Flag to retrieve rotary encoder version from the device
-    RE_OP = 0xA1,    // Flag for normal operation
+    RE_RDY = 0xA0,   // Flag to check if encoder is ready for operation
+    RE_VER = 0xA1,   // Flag to retrieve rotary encoder software version
+    RE_READ = 0xA2,  // Flag to read the current position of the encoder
+    RE_OP = 0xA3,    // Flag for operation start/end, sent to when sending feedback on move start/end
+    RE_MOVE = 0xA4,  // Flag for sending a position update from the device driver to the encoder
   };
 
 };

MotorDriver.cpp

@@ -4,6 +4,7 @@
  *  © 2021 Fred Decker
  *  © 2020-2023 Harald Barth
  *  © 2020-2021 Chris Harlow
+ *  © 2023 Colin Murdoch
  *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
@@ -26,16 +27,18 @@
 #include "DCCWaveform.h"
 #include "DCCTimer.h"
 #include "DIAG.h"
+#include "EXRAIL2.h"
 
-bool MotorDriver::commonFaultPin=false;
+unsigned long MotorDriver::globalOverloadStart = 0;
 
 volatile portreg_t shadowPORTA;
 volatile portreg_t shadowPORTB;
 volatile portreg_t shadowPORTC;
 
-MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
-                         byte current_pin, float sense_factor, unsigned int trip_milliamps, int8_t fault_pin) {
-  powerPin=power_pin;
+MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
+                         byte current_pin, float sense_factor, unsigned int trip_milliamps, int16_t fault_pin) {
+  const FSH * warnString = F("** WARNING **");
+
   invertPower=power_pin < 0;
   if (invertPower) {
     powerPin = 0-power_pin;
@@ -91,35 +94,54 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
   }
   else dualSignal=false; 
   
-  brakePin=brake_pin;
   if (brake_pin!=UNUSED_PIN){
     invertBrake=brake_pin < 0;
-    brakePin=invertBrake ? 0-brake_pin : brake_pin;
+    if (invertBrake)
+      brake_pin = 0-brake_pin;
+    if (brake_pin > MAX_PIN)
+      DIAG(F("%S Brake pin %d > %d"), warnString, brake_pin, MAX_PIN);
+    brakePin=(byte)brake_pin;
     getFastPin(F("BRAKE"),brakePin,fastBrakePin);
     // if brake is used for railcom  cutout we need to do PORTX register trick here as well
     pinMode(brakePin, OUTPUT);
     setBrake(true);  // start with brake on in case we hace DC stuff going on
+  } else {
+    brakePin=UNUSED_PIN;
   }
-  else brakePin=UNUSED_PIN;
   
   currentPin=current_pin;
-  if (currentPin!=UNUSED_PIN) ADCee::init(currentPin);
+  if (currentPin!=UNUSED_PIN) {
+    int ret = ADCee::init(currentPin);
+    if (ret < -1010) { // XXX give value a name later
+      DIAG(F("ADCee::init error %d, disable current pin %d"), ret, currentPin);
+      currentPin = UNUSED_PIN;
+    }
+  }
   senseOffset=0; // value can not be obtained until waveform is activated
 
-  faultPin=fault_pin;
-  if (faultPin != UNUSED_PIN) {
+  if (fault_pin != UNUSED_PIN) {
     invertFault=fault_pin < 0;
-    faultPin=invertFault ? 0-fault_pin : fault_pin;
+    if (invertFault)
+      fault_pin =  0-fault_pin;
+    if (fault_pin > MAX_PIN)
+      DIAG(F("%S Fault pin %d > %d"), warnString, fault_pin, MAX_PIN);
+    faultPin=(byte)fault_pin;
     DIAG(F("Fault pin = %d invert %d"), faultPin, invertFault);
     getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin);
     pinMode(faultPin, INPUT);
+  } else {
+      faultPin=UNUSED_PIN;
   }
 
   // This conversion performed at compile time so the remainder of the code never needs
   // float calculations or libraray code. 
   senseFactorInternal=sense_factor * senseScale; 
   tripMilliamps=trip_milliamps;
-  rawCurrentTripValue=mA2raw(trip_milliamps);
+#ifdef MAX_CURRENT
+  if (MAX_CURRENT > 0 && MAX_CURRENT < tripMilliamps)
+    tripMilliamps = MAX_CURRENT;
+#endif
+  rawCurrentTripValue=mA2raw(tripMilliamps);
 
   if (rawCurrentTripValue + senseOffset > ADCee::ADCmax()) {
     // This would mean that the values obtained from the ADC never
@@ -134,20 +156,16 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
   }
 
   if (currentPin==UNUSED_PIN) 
-    DIAG(F("** WARNING ** No current or short detection"));
+    DIAG(F("%S No current or short detection"), warnString);
   else  {
-    DIAG(F("Track %c, TripValue=%d"), trackLetter, rawCurrentTripValue);
+    DIAG(F("Pin %d Max %dmA (%d)"), currentPin, raw2mA(rawCurrentTripValue), rawCurrentTripValue);
 
     // self testing diagnostic for the non-float converters... may be removed when happy
     //  DIAG(F("senseFactorInternal=%d raw2mA(1000)=%d mA2Raw(1000)=%d"),
     //   senseFactorInternal, raw2mA(1000),mA2raw(1000));
   }
 
-  // prepare values for current detection
-  sampleDelay = 0;
-  lastSampleTaken = millis();
   progTripValue = mA2raw(TRIP_CURRENT_PROG); 
-
 }
 
 bool MotorDriver::isPWMCapable() {
@@ -156,7 +174,12 @@ bool MotorDriver::isPWMCapable() {
 
 
 void MotorDriver::setPower(POWERMODE mode) {
-  bool on=mode==POWERMODE::ON;
+  if (powerMode == mode) return;
+  //DIAG(F("Track %c POWERMODE=%d"), trackLetter, (int)mode);
+  lastPowerChange[(int)mode] = micros();
+  if (mode == POWERMODE::OVERLOAD)
+    globalOverloadStart = lastPowerChange[(int)mode];
+  bool on=(mode==POWERMODE::ON || mode ==POWERMODE::ALERT);
   if (on) {
     // when switching a track On, we need to check the crrentOffset with the pin OFF
     if (powerMode==POWERMODE::OFF && currentPin!=UNUSED_PIN) {
@@ -196,8 +219,8 @@ bool MotorDriver::canMeasureCurrent() {
   return currentPin!=UNUSED_PIN;
 }
 /*
- * Return the current reading as pin reading 0 to 1023. If the fault
- * pin is activated return a negative current to show active fault pin.
+ * Return the current reading as pin reading 0 to max resolution (1024 or 4096).
+ * If the fault pin is activated return a negative current to show active fault pin.
  * As there is no -0, cheat a little and return -1 in that case.
  * 
  * senseOffset handles the case where a shield returns values above or below 
@@ -214,14 +237,12 @@ int MotorDriver::getCurrentRaw(bool fromISR) {
   // if (fromISR == false) DIAG(F("%c: %d"), trackLetter, current);
   current = current-senseOffset;     // adjust with offset
   if (current<0) current=0-current;
-  if ((faultPin != UNUSED_PIN) && powerMode==POWERMODE::ON) {
-    if (invertFault && isLOW(fastFaultPin))
-      return (current == 0 ? -1 : -current);
-    if (!invertFault && !isLOW(fastFaultPin))
+  // current >= 0 here, we use negative current as fault pin flag
+  if ((faultPin != UNUSED_PIN) && powerPin) {
+    if (invertFault ? isHIGH(fastFaultPin) : isLOW(fastFaultPin))
       return (current == 0 ? -1 : -current);
   }
   return current;
-   
 }
 
 #ifdef ANALOG_READ_INTERRUPT
@@ -259,6 +280,7 @@ void MotorDriver::startCurrentFromHW() {
 #endif //ANALOG_READ_INTERRUPT
 
 #if defined(ARDUINO_ARCH_ESP32)
+#ifdef VARIABLE_TONES
 uint16_t taurustones[28] = { 165, 175, 196, 220,
 			     247, 262, 294, 330,
 			     349, 392, 440, 494,
@@ -267,16 +289,43 @@ uint16_t taurustones[28] = { 165, 175, 196, 220,
 			     330, 284, 262, 247,
 			     220, 196, 175, 165 };
 #endif
+#endif
 void MotorDriver::setDCSignal(byte speedcode) {
   if (brakePin == UNUSED_PIN)
     return;
+  switch(brakePin) {
 #if defined(ARDUINO_AVR_UNO)
-  TCCR2B = (TCCR2B & B11111000) | B00000110; // set divisor on timer 2 to result in (approx) 122.55Hz
+    // Not worth doin something here as:
+    // If we are on pin 9 or 10 we are on Timer1 and we can not touch Timer1 as that is our DCC source.
+    // If we are on pin 5 or 6 we are on Timer 0 ad we can not touch Timer0 as that is millis() etc.
+    // We are most likely not on pin 3 or 11 as no known motor shield has that as brake.
 #endif
 #if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
-  TCCR2B = (TCCR2B & B11111000) | B00000110; // set divisor on timer 2 to result in (approx) 122.55Hz
-  TCCR4B = (TCCR4B & B11111000) | B00000100; // same for timer 4 but maxcount and thus divisor differs
+  case 9:
+  case 10:
+    // Timer2 (is differnet)
+    TCCR2A = (TCCR2A & B11111100) | B00000001; // set WGM1=0 and WGM0=1 phase correct PWM
+    TCCR2B = (TCCR2B & B11110000) | B00000110; // set WGM2=0 ; set divisor on timer 2 to 1/256 for 122.55Hz
+    //DIAG(F("2 A=%x B=%x"), TCCR2A, TCCR2B);
+    break;
+  case 6:
+  case 7:
+  case 8:
+    // Timer4
+    TCCR4A = (TCCR4A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for normal PWM 8-bit
+    TCCR4B = (TCCR4B & B11100000) | B00000100; // set WGM2=0 and WGM3=0 for normal PWM 8 bit and div 1/256 for 122.55Hz
+    break;
+  case 46:
+  case 45:
+  case 44:
+    // Timer5
+    TCCR5A = (TCCR5A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for normal PWM 8-bit
+    TCCR5B = (TCCR5B & B11100000) | B00000100; // set WGM2=0 and WGM3=0 for normal PWM 8 bit and div 1/256 for 122.55Hz
+    break;
 #endif
+  default:
+    break;
+  }
   // spedcoode is a dcc speed & direction
   byte tSpeed=speedcode & 0x7F; // DCC Speed with 0,1 stop and speed steps 2 to 127
   byte tDir=speedcode & 0x80;
@@ -284,11 +333,13 @@ void MotorDriver::setDCSignal(byte speedcode) {
 #if defined(ARDUINO_ARCH_ESP32)
   {
     int f = 131;
+#ifdef VARIABLE_TONES
     if (tSpeed > 2) {
       if (tSpeed <= 58) {
 	f = taurustones[ (tSpeed-2)/2 ] ;
       }
     }
+#endif
     DCCTimer::DCCEXanalogWriteFrequency(brakePin, f); // set DC PWM frequency to 100Hz XXX May move to setup
   }
 #endif
@@ -327,7 +378,60 @@ void MotorDriver::setDCSignal(byte speedcode) {
     interrupts();
   }
 }
-
+void MotorDriver::throttleInrush(bool on) {
+  if (brakePin == UNUSED_PIN)
+    return;
+  if ( !(trackMode & (TRACK_MODE_MAIN | TRACK_MODE_PROG | TRACK_MODE_EXT)))
+    return;
+  byte duty = on ? 208 : 0;
+  if (invertBrake)
+    duty = 255-duty;
+#if defined(ARDUINO_ARCH_ESP32)
+  if(on) {
+    DCCTimer::DCCEXanalogWrite(brakePin,duty);
+    DCCTimer::DCCEXanalogWriteFrequency(brakePin, 62500);
+  } else {
+    ledcDetachPin(brakePin);
+  }
+#else
+  if(on){
+    switch(brakePin) {
+#if defined(ARDUINO_AVR_UNO)
+      // Not worth doin something here as:
+      // If we are on pin 9 or 10 we are on Timer1 and we can not touch Timer1 as that is our DCC source.
+      // If we are on pin 5 or 6 we are on Timer 0 ad we can not touch Timer0 as that is millis() etc.
+      // We are most likely not on pin 3 or 11 as no known motor shield has that as brake.
+#endif
+#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
+    case 9:
+    case 10:
+      // Timer2 (is different)
+      TCCR2A = (TCCR2A & B11111100) | B00000011; // set WGM0=1 and WGM1=1 for fast PWM
+      TCCR2B = (TCCR2B & B11110000) | B00000001; // set WGM2=0 and prescaler div=1 (max)
+      DIAG(F("2 A=%x B=%x"), TCCR2A, TCCR2B);
+      break;
+    case 6:
+    case 7:
+    case 8:
+      // Timer4
+      TCCR4A = (TCCR4A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for fast PWM 8-bit
+      TCCR4B = (TCCR4B & B11100000) | B00001001; // set WGM2=1 and WGM3=0 for fast PWM 8 bit and div=1 (max)
+      break;
+    case 46:
+    case 45:
+    case 44:
+      // Timer5
+      TCCR5A = (TCCR5A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for fast PWM 8-bit
+      TCCR5B = (TCCR5B & B11100000) | B00001001; // set WGM2=1 and WGM3=0 for fast PWM 8 bit and div=1 (max)
+      break;
+#endif
+    default:
+      break;
+    }
+  }
+  analogWrite(brakePin,duty);
+#endif
+}
 unsigned int MotorDriver::raw2mA( int raw) {
   //DIAG(F("%d = %d * %d / %d"), (int32_t)raw * senseFactorInternal / senseScale, raw, senseFactorInternal, senseScale);
   return (int32_t)raw * senseFactorInternal / senseScale;
@@ -356,64 +460,172 @@ void  MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & res
     // DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
 }
 
+///////////////////////////////////////////////////////////////////////////////////////////
+// checkPowerOverload(useProgLimit, trackno)
+// bool useProgLimit: Trackmanager knows if this track is in prog mode or in main mode
+// byte trackno: trackmanager knows it's number (could be skipped?)
+//
+// Short ciruit handling strategy:
+//
+// There are the following power states: ON ALERT OVERLOAD OFF
+// OFF state is only changed to/from manually. Power is on
+// during ON and ALERT. Power is off during OVERLOAD and OFF.
+// The overload mechanism changes between the other states like
+//
+// ON -1-> ALERT -2-> OVERLOAD -3-> ALERT -4-> ON
+// or
+// ON -1-> ALERT -4-> ON
+//
+// Times are in class MotorDriver (MotorDriver.h).
+//
+// 1. ON to ALERT:
+// Transition on fault pin condition or current overload
+//
+// 2. ALERT to OVERLOAD:
+// Transition happens if different timeouts have elapsed.
+// If only the fault pin is active, timeout is
+// POWER_SAMPLE_IGNORE_FAULT_LOW (100ms)
+// If only overcurrent is detected, timeout is
+// POWER_SAMPLE_IGNORE_CURRENT (100ms)
+// If fault pin and overcurrent are active, timeout is
+// POWER_SAMPLE_IGNORE_FAULT_HIGH (5ms)
+// Transition to OVERLOAD turns off power to the affected
+// output (unless fault pins are shared)
+// If the transition conditions are not fullfilled,
+// transition according to 4 is tested.
+//
+// 3. OVERLOAD to ALERT
+// Transiton happens when timeout has elapsed, timeout
+// is named power_sample_overload_wait. It is started
+// at POWER_SAMPLE_OVERLOAD_WAIT (40ms) at first entry
+// to OVERLOAD and then increased by a factor of 2
+// at further entries to the OVERLOAD condition. This
+// happens until POWER_SAMPLE_RETRY_MAX (10sec) is reached.
+// power_sample_overload_wait is reset by a poweroff or
+// a POWER_SAMPLE_ALL_GOOD (5sec) period during ON.
+// After timeout power is turned on again and state
+// goes back to ALERT.
+//
+// 4. ALERT to ON
+// Transition happens by watching the current and fault pin
+// samples during POWER_SAMPLE_ALERT_GOOD (20ms) time. If
+// values have been good during that time, transition is
+// made back to ON. Note that even if state is back to ON,
+// the power_sample_overload_wait time is first reset
+// later (see above).
+//
+// The time keeping is handled by timestamps lastPowerChange[]
+// which are set by each power change and by lastBadSample which
+// keeps track if conditions during ALERT have been good enough
+// to go back to ON. The time differences are calculated by
+// microsSinceLastPowerChange().
+//
+
 void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
-  if (millis() - lastSampleTaken  < sampleDelay) return;
-  lastSampleTaken = millis();
-  int tripValue= useProgLimit?progTripValue:getRawCurrentTripValue();
-  
-  // Trackname for diag messages later
+
   switch (powerMode) {
-    case POWERMODE::OFF:
-      sampleDelay = POWER_SAMPLE_OFF_WAIT;
-      break;
-    case POWERMODE::ON:
-      // Check current
-      lastCurrent=getCurrentRaw();
-      if (lastCurrent < 0) {
-	  // We have a fault pin condition to take care of
-	  lastCurrent = -lastCurrent;
-	  setPower(POWERMODE::OVERLOAD); // Turn off, decide later how fast to turn on again
-	  if (commonFaultPin) {
-	      if (lastCurrent < tripValue) {
-		      setPower(POWERMODE::ON); // maybe other track
-	      }
-	      // 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: POWERTOGGLE TRACK %c"), trackno + 'A');
-	  } else {
-	    DIAG(F("TRACK %c FAULT PIN ACTIVE - OVERLOAD"), trackno + 'A');
-	      if (lastCurrent < tripValue) {
-		  lastCurrent = tripValue; // exaggerate
-	      }
-	  }
-      }
-      if (lastCurrent < tripValue) {
-        sampleDelay = POWER_SAMPLE_ON_WAIT;
-	if(power_good_counter<100)
-	  power_good_counter++;
-	else
-	  if (power_sample_overload_wait>POWER_SAMPLE_OVERLOAD_WAIT) power_sample_overload_wait=POWER_SAMPLE_OVERLOAD_WAIT;
+
+  case POWERMODE::OFF: {
+    lastPowerMode = POWERMODE::OFF;
+    power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
+    break;
+  }
+
+  case POWERMODE::ON: {
+    lastPowerMode = POWERMODE::ON;
+    bool cF = checkFault();
+    bool cC = checkCurrent(useProgLimit);
+    if(cF || cC ) {
+      if (cC) {
+	unsigned int mA=raw2mA(lastCurrent);
+	DIAG(F("TRACK %c ALERT %s %dmA"), trackno + 'A',
+	     cF ? "FAULT" : "",
+	     mA);
       } else {
-        setPower(POWERMODE::OVERLOAD);
-        unsigned int mA=raw2mA(lastCurrent);
-        unsigned int maxmA=raw2mA(tripValue);
-	      power_good_counter=0;
-        sampleDelay = power_sample_overload_wait;
-        DIAG(F("TRACK %c POWER OVERLOAD %dmA (limit %dmA) shutdown for %dms"), trackno + 'A', mA, maxmA, sampleDelay);
-	if (power_sample_overload_wait >= 10000)
-	    power_sample_overload_wait = 10000;
-	else
-	    power_sample_overload_wait *= 2;
+	DIAG(F("TRACK %c ALERT FAULT"), trackno + 'A');
       }
+      setPower(POWERMODE::ALERT);
       break;
-    case POWERMODE::OVERLOAD:
-      // Try setting it back on after the OVERLOAD_WAIT
+    }
+    // all well
+    if (microsSinceLastPowerChange(POWERMODE::ON) > POWER_SAMPLE_ALL_GOOD) {
+      power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
+    }
+    break;
+  }
+
+  case POWERMODE::ALERT: {
+    // set local flags that handle how much is output to diag (do not output duplicates)
+    bool notFromOverload = (lastPowerMode != POWERMODE::OVERLOAD);
+    bool powerModeChange = (powerMode != lastPowerMode);
+    unsigned long now = micros();
+    if (powerModeChange)
+      lastBadSample = now;
+    lastPowerMode = POWERMODE::ALERT;
+    // check how long we have been in this state
+    unsigned long mslpc = microsSinceLastPowerChange(POWERMODE::ALERT);
+    if(checkFault()) {
+      throttleInrush(true);
+      lastBadSample = now;
+      unsigned long timeout = checkCurrent(useProgLimit) ? POWER_SAMPLE_IGNORE_FAULT_HIGH : POWER_SAMPLE_IGNORE_FAULT_LOW;
+      if ( mslpc < timeout) {
+	if (powerModeChange)
+	  DIAG(F("TRACK %c FAULT PIN (%M ignore)"), trackno + 'A', timeout);
+	break;
+      }
+      DIAG(F("TRACK %c FAULT PIN detected after %4M. Pause %4M)"), trackno + 'A', mslpc, power_sample_overload_wait);
+      throttleInrush(false);
+      setPower(POWERMODE::OVERLOAD);
+      break;
+    }
+    if (checkCurrent(useProgLimit)) {
+      lastBadSample = now;
+      if (mslpc < POWER_SAMPLE_IGNORE_CURRENT) {
+	if (powerModeChange) {
+	  unsigned int mA=raw2mA(lastCurrent);
+	  DIAG(F("TRACK %c CURRENT (%M ignore) %dmA"), trackno + 'A', POWER_SAMPLE_IGNORE_CURRENT, mA);
+	}
+	break;
+      }
+      unsigned int mA=raw2mA(lastCurrent);
+      unsigned int maxmA=raw2mA(tripValue);
+      DIAG(F("TRACK %c POWER OVERLOAD %4dmA (max %4dmA) detected after %4M. Pause %4M"),
+	   trackno + 'A', mA, maxmA, mslpc, power_sample_overload_wait);
+      throttleInrush(false);
+      setPower(POWERMODE::OVERLOAD);
+      break;
+    }
+    // all well
+    unsigned long goodtime = micros() - lastBadSample;
+    if (goodtime > POWER_SAMPLE_ALERT_GOOD) {
+      if (true || notFromOverload) { // we did a RESTORE message XXX
+	unsigned int mA=raw2mA(lastCurrent);
+	DIAG(F("TRACK %c NORMAL (after %M/%M) %dmA"), trackno + 'A', goodtime, mslpc, mA);
+      }
+      throttleInrush(false);
       setPower(POWERMODE::ON);
-      sampleDelay = POWER_SAMPLE_ON_WAIT;
-      // Debug code....
-      DIAG(F("TRACK %c POWER RESTORE (check %dms)"), trackno + 'A', sampleDelay);
-      break;
-    default:
-      sampleDelay = 999; // cant get here..meaningless statement to avoid compiler warning.
+    }
+    break;
+  }
+
+  case POWERMODE::OVERLOAD: {
+    lastPowerMode = POWERMODE::OVERLOAD;
+    unsigned long mslpc = (commonFaultPin ? (micros() - globalOverloadStart) : microsSinceLastPowerChange(POWERMODE::OVERLOAD));
+    if (mslpc > power_sample_overload_wait) {
+      // adjust next wait time
+      power_sample_overload_wait *= 2;
+      if (power_sample_overload_wait > POWER_SAMPLE_RETRY_MAX)
+	      power_sample_overload_wait = POWER_SAMPLE_RETRY_MAX;
+      DIAG(F("Calling EXRAIL"));
+      RMFT2::powerEvent(trackno, true); // Tell EXRAIL we have an overload
+      // power on test
+      DIAG(F("TRACK %c POWER RESTORE (after %4M)"), trackno + 'A', mslpc);
+      setPower(POWERMODE::ALERT);
+    }
+    break;
+  }
+
+  default:
+    break;
   }
 }

MotorDriver.h

@@ -27,6 +27,10 @@
 #include "IODevice.h"
 #include "DCCTimer.h"
 
+// use powers of two so we can do logical and/or on the track modes in if clauses.
+enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
+                        TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32};
+
 #define setHIGH(fastpin)  *fastpin.inout |= fastpin.maskHIGH
 #define setLOW(fastpin)   *fastpin.inout &= fastpin.maskLOW
 #define isHIGH(fastpin)   (*fastpin.inout & fastpin.maskHIGH)
@@ -74,8 +78,9 @@
 // Virtualised Motor shield 1-track hardware Interface
 
 #ifndef UNUSED_PIN     // sync define with the one in MotorDrivers.h
-#define UNUSED_PIN 127 // inside int8_t
+#define UNUSED_PIN 255 // inside uint8_t
 #endif
+#define MAX_PIN 254
 
 class pinpair {
 public:
@@ -106,13 +111,13 @@ extern volatile portreg_t shadowPORTA;
 extern volatile portreg_t shadowPORTB;
 extern volatile portreg_t shadowPORTC;
 
-enum class POWERMODE : byte { OFF, ON, OVERLOAD };
+enum class POWERMODE : byte { OFF, ON, OVERLOAD, ALERT };
 
 class MotorDriver {
   public:
     
-    MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, 
-                byte current_pin, float senseFactor, unsigned int tripMilliamps, int8_t fault_pin);
+    MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin, 
+                byte current_pin, float senseFactor, unsigned int tripMilliamps, int16_t fault_pin);
     void setPower( POWERMODE mode);
     POWERMODE getPower() { return powerMode;}
     // as the port registers can be shadowed to get syncronized DCC signals
@@ -144,6 +149,7 @@ class MotorDriver {
     };
     inline pinpair getSignalPin() { return pinpair(signalPin,signalPin2); };
     void setDCSignal(byte speedByte);
+    void throttleInrush(bool on);
     inline void detachDCSignal() {
 #if defined(__arm__)
       pinMode(brakePin, OUTPUT);
@@ -174,7 +180,10 @@ class MotorDriver {
     bool isPWMCapable();
     bool canMeasureCurrent();
     bool trackPWM = false; // this track uses PWM timer to generate the DCC waveform
-    static bool commonFaultPin; // This is a stupid motor shield which has only a common fault pin for both outputs
+    bool commonFaultPin = false; // This is a stupid motor shield which has only a common fault pin for both outputs
+    inline byte setCommonFaultPin() {
+      return commonFaultPin = true;
+    }
     inline byte getFaultPin() {
 	return faultPin;
     }
@@ -185,17 +194,46 @@ class MotorDriver {
     inline void setTrackLetter(char c) {
       trackLetter = c;
     };
+    // this returns how much time has passed since the last power change. If it
+    // was really long ago (approx > 52min) advance counter approx 35 min so that
+    // we are at 18 minutes again. Times for 32 bit unsigned long.
+    inline unsigned long microsSinceLastPowerChange(POWERMODE mode) {
+      unsigned long now = micros();
+      unsigned long diff = now - lastPowerChange[(int)mode];
+      if (diff > (1UL << (7 *sizeof(unsigned long)))) // 2^(4*7)us = 268.4 seconds
+        lastPowerChange[(int)mode] = now - 30000000UL;           // 30 seconds ago
+      return diff;
+    };
 #ifdef ANALOG_READ_INTERRUPT
     bool sampleCurrentFromHW();
     void startCurrentFromHW();
 #endif
+  inline void setMode(TRACK_MODE m) {
+    trackMode = m;
+  };
+  inline TRACK_MODE getMode() {
+    return trackMode;
+  };
   private:
     char trackLetter = '?';
     bool isProgTrack = false; // tells us if this is a prog track
     void  getFastPin(const FSH* type,int pin, bool input, FASTPIN & result);
-    void  getFastPin(const FSH* type,int pin, FASTPIN & result) {
+    inline void  getFastPin(const FSH* type,int pin, FASTPIN & result) {
 	getFastPin(type, pin, 0, result);
-    }
+    };
+    // side effect sets lastCurrent and tripValue
+    inline bool checkCurrent(bool useProgLimit) {
+      tripValue= useProgLimit?progTripValue:getRawCurrentTripValue();
+      lastCurrent = getCurrentRaw();
+      if (lastCurrent < 0)
+	lastCurrent = -lastCurrent;
+      return lastCurrent >= tripValue;
+    };
+    // side effect sets lastCurrent
+    inline bool checkFault() {
+      lastCurrent = getCurrentRaw();
+      return lastCurrent < 0;
+    };
     VPIN powerPin;
     byte signalPin, signalPin2, currentPin, faultPin, brakePin;
     FASTPIN fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin;
@@ -216,10 +254,14 @@ class MotorDriver {
     int rawCurrentTripValue;
     // current sampling
     POWERMODE powerMode;
-    unsigned long lastSampleTaken;
-    unsigned int sampleDelay;
+    POWERMODE lastPowerMode;
+    unsigned long lastPowerChange[4];         // timestamp in microseconds
+    unsigned long lastBadSample;              // timestamp in microseconds
+    // used to sync restore time when common Fault pin detected
+    static unsigned long globalOverloadStart; // timestamp in microseconds
     int progTripValue;
-    int  lastCurrent;
+    int  lastCurrent; //temp value
+    int  tripValue;   //temp value
 #ifdef ANALOG_READ_INTERRUPT
     volatile unsigned long sampleCurrentTimestamp;
     volatile uint16_t sampleCurrent;
@@ -227,16 +269,28 @@ class MotorDriver {
     int maxmA;
     int tripmA;
 
-    // Wait times for power management. Unit: milliseconds
-    static const int  POWER_SAMPLE_ON_WAIT = 100;
-    static const int  POWER_SAMPLE_OFF_WAIT = 1000;
-    static const int  POWER_SAMPLE_OVERLOAD_WAIT = 20;
+    // Times for overload management. Unit: microseconds.
+    // Base for wait time until power is turned on again
+    static const unsigned long POWER_SAMPLE_OVERLOAD_WAIT =     40000UL;
+    // Time after we consider all faults old and forgotten
+    static const unsigned long POWER_SAMPLE_ALL_GOOD =        5000000UL;
+    // Time after which we consider a ALERT over 
+    static const unsigned long POWER_SAMPLE_ALERT_GOOD =        20000UL;
+    // How long to ignore fault pin if current is under limit
+    static const unsigned long POWER_SAMPLE_IGNORE_FAULT_LOW = 100000UL;
+    // How long to ignore fault pin if current is higher than limit
+    static const unsigned long POWER_SAMPLE_IGNORE_FAULT_HIGH =  5000UL;
+    // How long to wait between overcurrent and turning off
+    static const unsigned long POWER_SAMPLE_IGNORE_CURRENT  =  100000UL;
+    // Upper limit for retry period
+    static const unsigned long POWER_SAMPLE_RETRY_MAX =      10000000UL;
     
     // Trip current for programming track, 250mA. Change only if you really
     // need to be non-NMRA-compliant because of decoders that are not either.
     static const int TRIP_CURRENT_PROG=250;
     unsigned long power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
     unsigned int power_good_counter = 0;
+    TRACK_MODE trackMode = TRACK_MODE_NONE; // we assume track not assigned at startup
 
 };
 #endif

MotorDrivers.h

@@ -1,7 +1,7 @@
 /*
- *  © 2022 Paul M. Antoine
+ *  © 2022-2023 Paul M. Antoine
  *  © 2021 Fred Decker
- *  © 2020-2022 Harald Barth
+ *  © 2020-2023 Harald Barth
  *  (c) 2020 Chris Harlow. All rights reserved.
  *  (c) 2021 Fred Decker.  All rights reserved.
  *  (c) 2020 Harald Barth. All rights reserved.
@@ -36,7 +36,7 @@
 // custom defines in config.h.
 
 #ifndef UNUSED_PIN     // sync define with the one in MotorDriver.h
-#define UNUSED_PIN 127 // inside int8_t
+#define UNUSED_PIN 255 // inside uint8_t
 #endif
 
 // The MotorDriver definition is:
@@ -60,7 +60,8 @@
 // Arduino STANDARD Motor Shield, used on different architectures:
 
 #if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
-// Setup for SAMD21 Sparkfun DEV board using Arduino standard Motor Shield R3 (MUST be R3
+// Standard Motor Shield definition for 3v3 processors (other than the ESP32)
+// Setup for SAMD21 Sparkfun DEV board MUST use Arduino Motor Shield R3 (MUST be R3
 // for 3v3 compatibility!!) senseFactor for 3.3v systems is 1.95 as calculated when using
 // 10-bit A/D samples, and for 12-bit samples it's more like 0.488, but we probably need
 // to tweak both these
@@ -70,6 +71,12 @@
 #define SAMD_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
 #define STM32_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
 
+// EX 8874 based shield connected to a 3V3 system with 12-bit (4096) ADC
+#define EX8874_SHIELD F("EX8874"), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 1.27, 5000, A4), \
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.27, 5000, A5)
+
+
 #elif defined(ARDUINO_ARCH_ESP32)
 // STANDARD shield on an ESPDUINO-32 (ESP32 in Uno form factor). The shield must be eiter the
 // 3.3V compatible R3 version or it has to be modified to not supply more than 3.3V to the
@@ -80,9 +87,11 @@
  new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 0.70, 1500, UNUSED_PIN), \
  new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 0.70, 1500, UNUSED_PIN)
 
+// EX 8874 based shield connected to a 3.3V system (like ESP32) and 12bit (4096) ADC
+// numbers are GPIO numbers. comments are UNO form factor shield pin numbers
 #define EX8874_SHIELD F("EX8874"),\
- new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 1.17, 5000, -36 /*-A4*/), \
- new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 1.17, 5000, -39 /*-A5*/)
+ new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 1.27, 5000, 36 /*A4*/), \
+ new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 1.27, 5000, 39 /*A5*/)
 
 #else
 // STANDARD shield on any Arduino Uno or Mega compatible with the original specification.
@@ -92,6 +101,12 @@
 #define BRAKE_PWM_SWAPPED_MOTOR_SHIELD F("BPS_MOTOR_SHIELD"),                                       \
                               new MotorDriver(-9 , 12, UNUSED_PIN, -3, A0, 2.99, 1500, UNUSED_PIN), \
                               new MotorDriver(-8 , 13, UNUSED_PIN,-11, A1, 2.99, 1500, UNUSED_PIN)
+
+// EX 8874 based shield connected to a 5V system (like Arduino) and 10bit (1024) ADC
+#define EX8874_SHIELD F("EX8874"), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 5.08, 5000, A4), \
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 5.08, 5000, A5)
+
 #endif
 
 // Pololu Motor Shield
@@ -120,10 +135,6 @@
    new MotorDriver(2, 7, UNUSED_PIN,  -9, A0, 10, 2500,  6), \
    new MotorDriver(4, 8, UNUSED_PIN, -10, A1, 10, 2500, 12)
 
-#define EX8874_SHIELD F("EX8874"), \
- new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 4.86, 5000, -A4), \
- new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 4.86, 5000, -A5)
-
 // Firebox Mk1
 #define FIREBOX_MK1 F("FIREBOX_MK1"),                                                  \
                     new MotorDriver(3, 6, 7, UNUSED_PIN, A5, 9.766, 5500, UNUSED_PIN), \

SerialManager.cpp

@@ -87,6 +87,9 @@ void SerialManager::init() {
     delay(1000);
   }
 #endif
+#ifdef SABERTOOTH
+  Serial2.begin(9600, SERIAL_8N1, 16, 17); // GPIO 16 RXD2; GPIO 17 TXD2 on ESP32
+#endif
 }
 
 void SerialManager::broadcast(char * stringBuffer) {

StringFormatter.cpp

@@ -117,6 +117,24 @@ void StringFormatter::send2(Print * stream,const FSH* format, va_list args) {
       case 'o': stream->print(va_arg(args, int), OCT); break;
       case 'x': stream->print((unsigned int)va_arg(args, unsigned int), HEX); break;
       case 'X': stream->print((unsigned long)va_arg(args, unsigned long), HEX); break;
+      case 'M':
+      { // this prints a unsigned long microseconds time in readable format
+	unsigned long time = va_arg(args, long);
+	if (time >= 2000) {
+	  time = time / 1000;
+	  if (time >= 2000) {
+	    printPadded(stream, time/1000, formatWidth, formatLeft);
+	    stream->print(F("sec"));
+	  } else {
+	    printPadded(stream,time, formatWidth, formatLeft);
+	    stream->print(F("msec"));
+	  }
+	} else {
+	  printPadded(stream,time, formatWidth, formatLeft);
+	  stream->print(F("usec"));
+	}
+      }
+      break;
       //case 'f': stream->print(va_arg(args, double), 2); break;
       //format width prefix
       case '-': 

TrackManager.cpp

@@ -1,6 +1,7 @@
 /*
  *  © 2022 Chris Harlow
  *  © 2022 Harald Barth
+ *  © 2023 Colin Murdoch
  *  All rights reserved.
  *  
  *  This file is part of DCC++EX
@@ -31,19 +32,20 @@
     
 #define APPLY_BY_MODE(findmode,function) \
         FOR_EACH_TRACK(t) \
-            if (trackMode[t]==findmode) \
+	    if (track[t]->getMode()==findmode)	\
                 track[t]->function;
-
+#ifndef DISABLE_PROG
 const int16_t HASH_KEYWORD_PROG = -29718;
+#endif
 const int16_t HASH_KEYWORD_MAIN = 11339;
 const int16_t HASH_KEYWORD_OFF = 22479;  
+const int16_t HASH_KEYWORD_NONE = -26550;
 const int16_t HASH_KEYWORD_DC = 2183;  
 const int16_t HASH_KEYWORD_DCX = 6463; // DC reversed polarity 
 const int16_t HASH_KEYWORD_EXT = 8201; // External DCC signal
 const int16_t HASH_KEYWORD_A = 65; // parser makes single chars the ascii.   
 
 MotorDriver * TrackManager::track[MAX_TRACKS];
-TRACK_MODE TrackManager::trackMode[MAX_TRACKS];
 int16_t TrackManager::trackDCAddr[MAX_TRACKS];
 
 POWERMODE TrackManager::mainPowerGuess=POWERMODE::OFF;
@@ -52,7 +54,7 @@ bool TrackManager::progTrackSyncMain=false;
 bool TrackManager::progTrackBoosted=false; 
 int16_t TrackManager::joinRelay=UNUSED_PIN;
 #ifdef ARDUINO_ARCH_ESP32
-byte TrackManager::tempProgTrack=MAX_TRACKS+1;
+byte TrackManager::tempProgTrack=MAX_TRACKS+1; // MAX_TRACKS+1 is the unused flag
 #endif
 
 #ifdef ANALOG_READ_INTERRUPT
@@ -73,7 +75,7 @@ void TrackManager::sampleCurrent() {
     waiting = false;
     tr++;
     if (tr > lastTrack) tr = 0;
-    if (lastTrack < 2 || trackMode[tr] & TRACK_MODE_PROG) {
+    if (lastTrack < 2 || track[tr]->getMode() & TRACK_MODE_PROG) {
       return; // We could continue but for prog track we
               // rather do it in next interrupt beacuse
               // that gives us well defined sampling point.
@@ -84,7 +86,7 @@ void TrackManager::sampleCurrent() {
   if (!waiting) {
     // look for a valid track to sample or until we are around
     while (true) {
-      if (trackMode[tr] & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_DCX|TRACK_MODE_EXT )) {
+      if (track[tr]->getMode() & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_DCX|TRACK_MODE_EXT )) {
 	track[tr]->startCurrentFromHW();
 	// for scope debug track[1]->setBrake(1);
 	waiting = true;
@@ -116,19 +118,31 @@ void TrackManager::Setup(const FSH * shieldname,
     
     // Default the first 2 tracks (which may be null) and perform HA waveform check.
     setTrackMode(0,TRACK_MODE_MAIN);
+#ifndef DISABLE_PROG
     setTrackMode(1,TRACK_MODE_PROG);
+#else
+    setTrackMode(1,TRACK_MODE_MAIN);
+#endif
   
-  // TODO Fault pin config for odd motor boards (example pololu)
-  // MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
-  //				 && (mainDriver->getFaultPin() != UNUSED_PIN));
-  DCC::begin(shieldname);   
+  // Fault pin config for odd motor boards (example pololu)
+  FOR_EACH_TRACK(t) {
+    for (byte s=t+1;s<=lastTrack;s++) {
+      if (track[t]->getFaultPin() != UNUSED_PIN &&
+	  track[t]->getFaultPin() == track[s]->getFaultPin()) {
+	track[t]->setCommonFaultPin();
+	track[s]->setCommonFaultPin();
+	DIAG(F("Common Fault pin tracks %c and %c"), t+'A', s+'A');
+      }
+    }
+  }
+  DCC::setShieldName(shieldname);
 }
 
 void TrackManager::addTrack(byte t, MotorDriver* driver) {
-     trackMode[t]=TRACK_MODE_OFF;
      track[t]=driver;
      if (driver) {
          track[t]->setPower(POWERMODE::OFF);
+         track[t]->setMode(TRACK_MODE_NONE);
 	 track[t]->setTrackLetter('A'+t);
          lastTrack=t;
      } 
@@ -169,22 +183,27 @@ void TrackManager::setPROGSignal( bool on) {
 // with interrupts turned off around the critical section
 void TrackManager::setDCSignal(int16_t cab, byte speedbyte) {
   FOR_EACH_TRACK(t) {
-    if (trackDCAddr[t]!=cab) continue;
-    if (trackMode[t]==TRACK_MODE_DC) track[t]->setDCSignal(speedbyte);
-    else if (trackMode[t]==TRACK_MODE_DCX) track[t]->setDCSignal(speedbyte ^ 128);
+    if (trackDCAddr[t]!=cab && cab != 0) continue;
+    if (track[t]->getMode()==TRACK_MODE_DC) track[t]->setDCSignal(speedbyte);
+    else if (track[t]->getMode()==TRACK_MODE_DCX) track[t]->setDCSignal(speedbyte ^ 128);
   }
 }    
 
 bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr) {
     if (trackToSet>lastTrack || track[trackToSet]==NULL) return false;
 
-    //DIAG(F("Track=%c"),trackToSet+'A');
+    //DIAG(F("Track=%c Mode=%d"),trackToSet+'A', mode);
     // DC tracks require a motorDriver that can set brake!
-    if ((mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX)
-         && !track[trackToSet]->brakeCanPWM()) {
-             DIAG(F("Brake pin can't PWM: No DC"));
-             return false; 
-         }
+    if (mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) {
+#if defined(ARDUINO_AVR_UNO)
+      DIAG(F("Uno has no PWM timers available for DC"));
+      return false;
+#endif
+      if (!track[trackToSet]->brakeCanPWM()) {
+	DIAG(F("Brake pin can't PWM: No DC"));
+	return false;
+      }
+    }
 
 #ifdef ARDUINO_ARCH_ESP32
     // remove pin from MUX matrix and turn it off
@@ -198,12 +217,16 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
       pinMode(p.invpin, OUTPUT); // gpio_reset_pin may reset to input
     }
 #endif
+#ifndef DISABLE_PROG
     if (mode==TRACK_MODE_PROG) {
+#else
+    if (false) {
+#endif
       // only allow 1 track to be prog
       FOR_EACH_TRACK(t)
-	if (trackMode[t]==TRACK_MODE_PROG && t != trackToSet) {
+	if (track[t]->getMode()==TRACK_MODE_PROG && t != trackToSet) {
 	  track[t]->setPower(POWERMODE::OFF);
-	  trackMode[t]=TRACK_MODE_OFF;
+	  track[t]->setMode(TRACK_MODE_NONE);
 	  track[t]->makeProgTrack(false);     // revoke prog track special handling
     streamTrackState(NULL,t);
 	}
@@ -211,7 +234,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
     } else {
       track[trackToSet]->makeProgTrack(false); // only the prog track knows it's type
     }
-    trackMode[trackToSet]=mode;
+    track[trackToSet]->setMode(mode);
     trackDCAddr[trackToSet]=dcAddr;
     streamTrackState(NULL,trackToSet);
 
@@ -238,7 +261,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
       // DC tracks must not have the DCC PWM switched on
       // so we globally turn it off if one of the PWM
       // capable tracks is now DC or DCX.
-      if (trackMode[t]==TRACK_MODE_DC || trackMode[t]==TRACK_MODE_DCX) {
+      if (track[t]->getMode()==TRACK_MODE_DC || track[t]->getMode()==TRACK_MODE_DCX) {
 	if (track[t]->isPWMCapable()) {
 	  canDo=false;    // this track is capable but can not run PWM
 	  break;          // in this mode, so abort and prevent globally below
@@ -246,7 +269,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 	  track[t]->trackPWM=false; // this track sure can not run with PWM
 	  //DIAG(F("Track %c trackPWM 0 (not capable)"), t+'A');
 	}
-      } else if (trackMode[t]==TRACK_MODE_MAIN || trackMode[t]==TRACK_MODE_PROG) {
+      } else if (track[t]->getMode()==TRACK_MODE_MAIN || track[t]->getMode()==TRACK_MODE_PROG) {
 	track[t]->trackPWM = track[t]->isPWMCapable(); // trackPWM is still a guess here
 	//DIAG(F("Track %c trackPWM %d"), t+'A', track[t]->trackPWM);
 	canDo &= track[t]->trackPWM;
@@ -284,7 +307,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 
 void TrackManager::applyDCSpeed(byte t) {
   uint8_t speedByte=DCC::getThrottleSpeedByte(trackDCAddr[t]);
-  if (trackMode[t]==TRACK_MODE_DCX)
+  if (track[t]->getMode()==TRACK_MODE_DCX)
     speedByte = speedByte ^ 128; // reverse direction bit
   track[t]->setDCSignal(speedByte);
 }
@@ -306,11 +329,13 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
     if (params==2  && p[1]==HASH_KEYWORD_MAIN) // <= id MAIN>
         return setTrackMode(p[0],TRACK_MODE_MAIN);
     
+#ifndef DISABLE_PROG
     if (params==2  && p[1]==HASH_KEYWORD_PROG) // <= id PROG>
         return setTrackMode(p[0],TRACK_MODE_PROG);
+#endif
     
-    if (params==2  && p[1]==HASH_KEYWORD_OFF) // <= id OFF>
-        return setTrackMode(p[0],TRACK_MODE_OFF);
+    if (params==2  && (p[1]==HASH_KEYWORD_OFF || p[1]==HASH_KEYWORD_NONE)) // <= id OFF> <= id NONE>
+        return setTrackMode(p[0],TRACK_MODE_NONE);
 
     if (params==2  && p[1]==HASH_KEYWORD_EXT) // <= id EXT>
         return setTrackMode(p[0],TRACK_MODE_EXT);
@@ -328,15 +353,17 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
   // null stream means send to commandDistributor for broadcast
   if (track[t]==NULL) return;
   auto format=F("");
-  switch(trackMode[t]) {
+  switch(track[t]->getMode()) {
   case TRACK_MODE_MAIN:
       format=F("<= %c MAIN>\n");
       break;
+#ifndef DISABLE_PROG
   case TRACK_MODE_PROG:
       format=F("<= %c PROG>\n");
       break;
-  case TRACK_MODE_OFF:
-      format=F("<= %c OFF>\n");
+#endif
+  case TRACK_MODE_NONE:
+      format=F("<= %c NONE>\n");
       break;
   case TRACK_MODE_EXT:
       format=F("<= %c EXT>\n");
@@ -357,20 +384,22 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
 byte TrackManager::nextCycleTrack=MAX_TRACKS;
 
 void TrackManager::loop() {
-    DCCWaveform::loop(); 
-    DCCACK::loop(); 
+    DCCWaveform::loop();
+#ifndef DISABLE_PROG
+    DCCACK::loop();
+#endif
     bool dontLimitProg=DCCACK::isActive() || progTrackSyncMain || progTrackBoosted;
     nextCycleTrack++;
     if (nextCycleTrack>lastTrack) nextCycleTrack=0;
     if (track[nextCycleTrack]==NULL) return;
     MotorDriver * motorDriver=track[nextCycleTrack];
-    bool useProgLimit=dontLimitProg? false: trackMode[nextCycleTrack]==TRACK_MODE_PROG;
+    bool useProgLimit=dontLimitProg? false: track[nextCycleTrack]->getMode()==TRACK_MODE_PROG;
     motorDriver->checkPowerOverload(useProgLimit, nextCycleTrack);   
 }
 
 MotorDriver * TrackManager::getProgDriver() {
     FOR_EACH_TRACK(t)
-        if (trackMode[t]==TRACK_MODE_PROG) return track[t];
+      if (track[t]->getMode()==TRACK_MODE_PROG) return track[t];
     return NULL;
 } 
 
@@ -378,7 +407,7 @@ MotorDriver * TrackManager::getProgDriver() {
 std::vector<MotorDriver *>TrackManager::getMainDrivers() {
   std::vector<MotorDriver *>  v;
   FOR_EACH_TRACK(t)
-    if (trackMode[t]==TRACK_MODE_MAIN) v.push_back(track[t]);
+    if (track[t]->getMode()==TRACK_MODE_MAIN) v.push_back(track[t]);
   return v;
 }
 #endif
@@ -388,7 +417,7 @@ void TrackManager::setPower2(bool setProg,POWERMODE mode) {
     FOR_EACH_TRACK(t) {
         MotorDriver * driver=track[t]; 
         if (!driver) continue; 
-        switch (trackMode[t]) {
+        switch (track[t]->getMode()) {
             case TRACK_MODE_MAIN:
                 if (setProg) break; 
                 // toggle brake before turning power on - resets overcurrent error
@@ -416,7 +445,7 @@ void TrackManager::setPower2(bool setProg,POWERMODE mode) {
 	        driver->setBrake(false);
 		driver->setPower(mode);
 	        break;
-            case TRACK_MODE_OFF:
+            case TRACK_MODE_NONE:
                 break;
         }
     }
@@ -424,8 +453,8 @@ void TrackManager::setPower2(bool setProg,POWERMODE mode) {
   
 POWERMODE TrackManager::getProgPower() {
     FOR_EACH_TRACK(t)
-        if (trackMode[t]==TRACK_MODE_PROG) 
-                return track[t]->getPower();
+      if (track[t]->getMode()==TRACK_MODE_PROG) 
+	return track[t]->getPower();
     return POWERMODE::OFF;   
   }
 
@@ -469,7 +498,7 @@ void TrackManager::setJoin(bool joined) {
 #ifdef ARDUINO_ARCH_ESP32
   if (joined) {
     FOR_EACH_TRACK(t) {
-      if (trackMode[t]==TRACK_MODE_PROG) {
+      if (track[t]->getMode()==TRACK_MODE_PROG) {
 	tempProgTrack = t;
 	setTrackMode(t, TRACK_MODE_MAIN);
 	break;
@@ -477,7 +506,12 @@ void TrackManager::setJoin(bool joined) {
     }
   } else {
     if (tempProgTrack != MAX_TRACKS+1) {
+      // as setTrackMode with TRACK_MODE_PROG defaults to
+      // power off, we will take the current power state
+      // of our track and then preserve that state.
+      POWERMODE tPTmode = track[tempProgTrack]->getPower(); //get current power status of this track
       setTrackMode(tempProgTrack, TRACK_MODE_PROG);
+      track[tempProgTrack]->setPower(tPTmode);              //set track status as it was before
       tempProgTrack = MAX_TRACKS+1;
     }
   }
@@ -485,3 +519,10 @@ void TrackManager::setJoin(bool joined) {
   progTrackSyncMain=joined;
   if (joinRelay!=UNUSED_PIN) digitalWrite(joinRelay,joined?HIGH:LOW);
 }
+
+bool TrackManager::isPowerOn(byte t) {
+      if (track[t]->getPower()!=POWERMODE::ON) 
+	        return false;
+    return true;   
+  }
+

TrackManager.h

@@ -1,6 +1,8 @@
 /*
  *  © 2022 Chris Harlow
  *  © 2022 Harald Barth
+ *  © 2023 Colin Murdoch
+ * 
  *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
@@ -27,10 +29,6 @@
 #include "MotorDriver.h"
 // Virtualised Motor shield multi-track hardware Interface
 
-// use powers of two so we can do logical and/or on the track modes in if clauses.
-enum TRACK_MODE : byte {TRACK_MODE_OFF = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
-                        TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32};
-
 // These constants help EXRAIL macros say SET_TRACK(2,mode) OR SET_TRACK(C,mode) etc.
 const byte TRACK_NUMBER_0=0, TRACK_NUMBER_A=0;    
 const byte TRACK_NUMBER_1=1, TRACK_NUMBER_B=1;    
@@ -81,11 +79,19 @@ class TrackManager {
     static void reportCurrent(Print* stream);
     static void reportObsoleteCurrent(Print* stream); 
     static void streamTrackState(Print* stream, byte t);
+    static bool isPowerOn(byte t);
 
     static int16_t joinRelay;
     static bool progTrackSyncMain;  // true when prog track is a siding switched to main
-     static bool progTrackBoosted;   // true when prog track is not current limited
-    
+    static bool progTrackBoosted;   // true when prog track is not current limited
+
+#ifdef DEBUG_ADC
+  public:
+#else
+  private:
+#endif
+    static MotorDriver* track[MAX_TRACKS];
+
   private:
     static void addTrack(byte t, MotorDriver* driver);
     static byte lastTrack;
@@ -93,8 +99,6 @@ class TrackManager {
     static POWERMODE mainPowerGuess;
     static void applyDCSpeed(byte t);
 
-    static MotorDriver* track[MAX_TRACKS];
-    static TRACK_MODE trackMode[MAX_TRACKS]; 
     static int16_t trackDCAddr[MAX_TRACKS];  // dc address if TRACK_MODE_DC or TRACK_MODE_DCX
 #ifdef ARDUINO_ARCH_ESP32
     static byte tempProgTrack; // holds the prog track number during join

Turnouts.cpp

@@ -250,6 +250,7 @@
       }
     }
     tt = (Turnout *)new ServoTurnout(id, vpin, thrownPosition, closedPosition, profile, closed);
+    DIAG(F("Turnout 0x%x size %d size %d"), tt, sizeof(Turnout),sizeof(struct TurnoutData));
     IODevice::writeAnalogue(vpin, closed ? closedPosition : thrownPosition, PCA9685::Instant);
     return tt;
 #else

Turnouts.h

@@ -69,10 +69,12 @@ protected:
     uint16_t id;
   } _turnoutData;  // 3 bytes
 
+#ifndef DISABLE_EEPROM
   // 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;
+#endif
 
   // Pointer to next turnout on linked list.
   Turnout *_nextTurnout = 0;

Turntables.cpp

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

Turntables.h

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

WiThrottle.cpp

@@ -235,6 +235,10 @@ int WiThrottle::getLocoId(byte * cmd) {
 void WiThrottle::multithrottle(RingStream * stream, byte * cmd){ 
   char throttleChar=cmd[1];
   int locoid=getLocoId(cmd+3); // -1 for *
+  if (locoid > 10239 || locoid < -1) {
+    StringFormatter::send(stream, F("No valid DCC loco %d\n"), locoid);
+    return;
+  }
   byte * aval=cmd;
   while(*aval !=';' && *aval !='\0') aval++;
   if (*aval) aval+=2;  // skip ;>
@@ -527,10 +531,13 @@ void WiThrottle::sendRoster(Print* stream) {
   rosterSent=true;
 #ifdef EXRAIL_ACTIVE
   StringFormatter::send(stream,F("RL%d"), RMFT2::rosterNameCount);
-  for (int16_t r=0;r<RMFT2::rosterNameCount;r++) {
+  for (int16_t r=0;;r++) {
       int16_t cabid=GETHIGHFLASHW(RMFT2::rosterIdList,r*2);
-      StringFormatter::send(stream,F("]\\[%S}|{%d}|{%c"),
-      RMFT2::getRosterName(cabid),cabid,cabid<128?'S':'L');
+      if (cabid == INT16_MAX)
+	break;
+      if (cabid > 0)
+	StringFormatter::send(stream,F("]\\[%S}|{%d}|{%c"),
+			      RMFT2::getRosterName(cabid),cabid,cabid<128?'S':'L');
   }
   StringFormatter::send(stream,F("\n"));       
 #else
@@ -544,14 +551,14 @@ void WiThrottle::sendRoutes(Print* stream) {
     // first pass automations
     for (int ix=0;;ix+=2) {
         int16_t id =GETHIGHFLASHW(RMFT2::automationIdList,ix);
-        if (id==0) break;
+        if (id==INT16_MAX) break;
         const FSH * desc=RMFT2::getRouteDescription(id);
         StringFormatter::send(stream,F("]\\[A%d}|{%S}|{4"),id,desc);
     }
     // second pass routes.
     for (int ix=0;;ix+=2) {
         int16_t id=GETHIGHFLASHW(RMFT2::routeIdList,ix);
-        if (id==0) break;
+        if (id==INT16_MAX) break;
         const FSH * desc=RMFT2::getRouteDescription(id);
         StringFormatter::send(stream,F("]\\[R%d}|{%S}|{2"),id,desc);
     }
@@ -567,9 +574,13 @@ void WiThrottle::sendFunctions(Print* stream, byte loco) {
 	myLocos[loco].functionToggles=1<<2; // F2 (HORN)  is a non-toggle
         
 #ifdef EXRAIL_ACTIVE
-	const char * functionNames=(char *) RMFT2::getRosterFunctions(locoid);
-	if (!functionNames) {
-	  // no roster, use non-exrail presets as above 
+	const FSH * functionNames= RMFT2::getRosterFunctions(locoid);
+	if (functionNames == NULL) {
+	  // no roster entry for locoid, try to find default entry
+	  functionNames= RMFT2::getRosterFunctions(0);
+	}
+	if (functionNames == NULL) {
+	  // no default roster entry either, use non-exrail presets as above 
 	}
 	else if (GETFLASH(functionNames)=='\0') {
 	  // "" = Roster but no functions given
@@ -584,7 +595,7 @@ void WiThrottle::sendFunctions(Print* stream, byte loco) {
 	  fkeys=0;
 	  bool firstchar=true;
 	  for (int fx=0;;fx++) {
-	    char c=GETFLASH(functionNames+fx);
+	    char c=GETFLASH((char *)functionNames+fx);
 	    if (c=='\0') {
 	      fkeys++;
 	      break;

WifiESP32.cpp

@@ -1,5 +1,7 @@
 /*
-    © 2021, Harald Barth.
+    © 2023 Paul M. Antoine
+    © 2021 Harald Barth
+    © 2023 Nathan Kellenicki
 
     This file is part of CommandStation-EX
 
@@ -20,6 +22,7 @@
 #if defined(ARDUINO_ARCH_ESP32)
 #include <vector>
 #include "defines.h"
+#include "ESPmDNS.h"
 #include <WiFi.h>
 #include "esp_wifi.h"
 #include "WifiESP32.h"
@@ -105,11 +108,18 @@ void wifiLoop(void *){
 }
 #endif
 
+char asciitolower(char in) {
+  if (in <= 'Z' && in >= 'A')
+    return in - ('Z' - 'z');
+  return in;
+}
+
 bool WifiESP::setup(const char *SSid,
                     const char *password,
                     const char *hostname,
                     int port,
-                    const byte channel) {
+                    const byte channel,
+                    const bool forceAP) {
   bool havePassword = true;
   bool haveSSID = true;
   bool wifiUp = false;
@@ -137,7 +147,8 @@ bool WifiESP::setup(const char *SSid,
   if (strncmp(yourNetwork, password, 13) == 0 || strncmp("", password, 13) == 0)
     havePassword = false;
 
-  if (haveSSID && havePassword) {
+  if (haveSSID && havePassword && !forceAP) {
+    WiFi.setHostname(hostname); // Strangely does not work unless we do it HERE!
     WiFi.mode(WIFI_STA);
 #ifdef SERIAL_BT_COMMANDS
     WiFi.setSleep(true);
@@ -174,16 +185,20 @@ bool WifiESP::setup(const char *SSid,
       }
     }
   }
-  if (!haveSSID) {
+  if (!haveSSID || forceAP) {
     // prepare all strings
-    String strSSID("DCC_");
-    String strPass("PASS_");
-    String strMac = WiFi.macAddress();
-    strMac.remove(0,9);
-    strMac.replace(":","");
-    strMac.replace(":","");
-    strSSID.concat(strMac);
-    strPass.concat(strMac);
+    String strSSID(forceAP ? SSid : "DCCEX_");
+    String strPass(forceAP ? password : "PASS_");
+    if (!forceAP) {
+      String strMac = WiFi.macAddress();
+      strMac.remove(0,9);
+      strMac.replace(":","");
+      strMac.replace(":","");
+      // convert mac addr hex chars to lower case to be compatible with AT software
+      std::transform(strMac.begin(), strMac.end(), strMac.begin(), asciitolower);
+      strSSID.concat(strMac);
+      strPass.concat(strMac);
+    }
 
     WiFi.mode(WIFI_AP);
 #ifdef SERIAL_BT_COMMANDS
@@ -209,6 +224,15 @@ bool WifiESP::setup(const char *SSid,
     // no idea to go on
     return false;
   }
+
+  // Now Wifi is up, register the mDNS service
+  if(!MDNS.begin(hostname)) {
+    DIAG(F("Wifi setup failed to start mDNS"));
+  }
+  if(!MDNS.addService("withrottle", "tcp", 2560)) {
+    DIAG(F("Wifi setup failed to add withrottle service to mDNS"));
+  }
+
   server = new WiFiServer(port); // start listening on tcp port
   server->begin();
   // server started here

WifiESP32.h

@@ -1,5 +1,6 @@
 /*
- *  © 2021, Harald Barth.
+ *  © 2021 Harald Barth
+ *  © 2023 Nathan Kellenicki
  *
  *  This file is part of CommandStation-EX
  *
@@ -31,7 +32,8 @@ public:
 		    const char *wifiPassword,
 		    const char *hostname,
 		    const int port,
-		    const byte channel);
+		    const byte channel,
+			const bool forceAP);
   static void loop();
 private:
 };

WifiInterface.cpp

@@ -2,6 +2,7 @@
  *  © 2021 Fred Decker
  *  © 2020-2022 Harald Barth
  *  © 2020-2022 Chris Harlow
+ *  © 2023 Nathan Kellenicki
  *  All rights reserved.
  *
  *  This file is part of CommandStation-EX
@@ -52,10 +53,32 @@ Stream * WifiInterface::wifiStream;
  
 #if (defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560))
 #define NUM_SERIAL 3
+#define SERIAL1 Serial1
+#define SERIAL3 Serial3
+#endif
+
+#if defined(ARDUINO_ARCH_STM32)
+// Handle serial ports availability on STM32 for variants!
+// #undef NUM_SERIAL
+#if defined(ARDUINO_NUCLEO_F401RE) || defined(ARDUINO_NUCLEO_F411RE)
+#define NUM_SERIAL 3
+#define SERIAL1 Serial1
+#define SERIAL3 Serial6
+#elif defined(ARDUINO_NUCLEO_F446RE)
+#define NUM_SERIAL 3
+#define SERIAL1 Serial3
+#define SERIAL3 Serial5
+#elif defined(ARDUINO_NUCLEO_F413ZH) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE) || defined(ARDUINO_NUCLEO_F412ZG)
+#define NUM_SERIAL 2
+#define SERIAL1 Serial6
+#else
+#warning This variant of Nucleo not yet explicitly supported
+#endif
 #endif
 
 #ifndef NUM_SERIAL
 #define NUM_SERIAL 1
+#define SERIAL1 Serial1
 #endif
 
 bool WifiInterface::setup(long serial_link_speed, 
@@ -63,7 +86,8 @@ bool WifiInterface::setup(long serial_link_speed,
                           const FSH *wifiPassword,
                           const FSH *hostname,
                           const int port,
-                          const byte channel) {
+                          const byte channel,
+                          const bool forceAP) {
 
   wifiSerialState wifiUp = WIFI_NOAT;
 
@@ -75,27 +99,34 @@ bool WifiInterface::setup(long serial_link_speed,
   (void) hostname;
   (void) port;
   (void) channel;
+  (void) forceAP;
 #endif  
-  
+
+// See if the WiFi is attached to the first serial port
 #if NUM_SERIAL > 0 && !defined(SERIAL1_COMMANDS)
-  Serial1.begin(serial_link_speed);
-  wifiUp = setup(Serial1, wifiESSID, wifiPassword, hostname, port, channel);
+  SERIAL1.begin(serial_link_speed);
+  wifiUp = setup(SERIAL1, wifiESSID, wifiPassword, hostname, port, channel, forceAP);
 #endif
 
 // Other serials are tried, depending on hardware.
+// Currently only the Arduino Mega 2560 has usable Serial2 (Nucleo-64 boards use Serial 2 for console!)
+#if defined(ARDUINO_AVR_MEGA2560)
 #if NUM_SERIAL > 1 && !defined(SERIAL2_COMMANDS)
   if (wifiUp == WIFI_NOAT)
   {
     Serial2.begin(serial_link_speed);
-    wifiUp = setup(Serial2, wifiESSID, wifiPassword, hostname, port, channel);
+    wifiUp = setup(Serial2, wifiESSID, wifiPassword, hostname, port, channel, forceAP);
   }
 #endif
-  
+#endif
+
+// We guess here that in all architctures that have a Serial3
+// we can use it for our purpose.
 #if NUM_SERIAL > 2 && !defined(SERIAL3_COMMANDS)
   if (wifiUp == WIFI_NOAT)
   {
-    Serial3.begin(serial_link_speed);
-    wifiUp = setup(Serial3, wifiESSID, wifiPassword, hostname, port, channel);
+    SERIAL3.begin(serial_link_speed);
+    wifiUp = setup(SERIAL3, wifiESSID, wifiPassword, hostname, port, channel, forceAP);
   }
 #endif
 
@@ -113,7 +144,7 @@ bool WifiInterface::setup(long serial_link_speed,
 }
 
 wifiSerialState WifiInterface::setup(Stream & setupStream,  const FSH* SSid, const FSH* password,
-				     const FSH* hostname,  int port, byte channel) {
+				     const FSH* hostname,  int port, byte channel, bool forceAP) {
   wifiSerialState wifiState;
   static uint8_t ntry = 0;
   ntry++;
@@ -122,7 +153,7 @@ wifiSerialState WifiInterface::setup(Stream & setupStream,  const FSH* SSid, con
 
   DIAG(F("++ Wifi Setup Try %d ++"), ntry);
 
-  wifiState = setup2( SSid, password, hostname,  port, channel);
+  wifiState = setup2( SSid, password, hostname,  port, channel, forceAP);
 
   if (wifiState == WIFI_NOAT) {
     LCD(4, F("WiFi no AT chip"));
@@ -146,7 +177,7 @@ wifiSerialState WifiInterface::setup(Stream & setupStream,  const FSH* SSid, con
 #pragma GCC diagnostic ignored "-Wunused-parameter"
 #endif
 wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
-				      const FSH* hostname, int port, byte channel) {
+				      const FSH* hostname, int port, byte channel, bool forceAP) {
   bool ipOK = false;
   bool oldCmd = false;
 
@@ -169,7 +200,21 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
 
   // Display the AT version information
   StringFormatter::send(wifiStream, F("AT+GMR\r\n")); 
-  checkForOK(2000, true, false);      // Makes this visible on the console
+  if (checkForOK(2000, F("AT version:"), true, false)) {
+    char version[] = "0.0.0.0";
+    for (int i=0; i<8;i++) {
+      while(!wifiStream->available());
+      version[i]=wifiStream->read();
+      StringFormatter::printEscape(version[i]);
+      if ((version[0] == '0') ||
+	  (version[0] == '2' && version[2] == '0') ||
+	  (version[0] == '2' && version[2] == '2' && version[4] == '0' && version[6] == '0')) {
+	SSid = F("DCCEX_SAYS_BROKEN_FIRMWARE");
+	forceAP = true;
+      }
+    }
+  }
+  checkForOK(2000, true, false);
 
 #ifdef DONT_TOUCH_WIFI_CONF
   DIAG(F("DONT_TOUCH_WIFI_CONF was set: Using existing config"));
@@ -199,7 +244,7 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
 	  if (!checkForOK(1000, F("0.0.0.0"), true,false))
 	      ipOK = true;
     }
-  } else {
+  } else if (!forceAP) {
       // SSID was configured, so we assume station (client) mode.
       if (oldCmd) {
 	      // AT command early version supports CWJAP/CWSAP
@@ -259,14 +304,19 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
   
     i=0;
     do {
-      if (STRNCMP_P(yourNetwork, (const char*)password, 13) == 0) {
-	// unconfigured
-        StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"DCCEX_%s\",\"PASS_%s\",%d,4\r\n"),
-                                          oldCmd ? "" : "_CUR", macTail, macTail, channel);
+      if (!forceAP) {
+        if (STRNCMP_P(yourNetwork, (const char*)password, 13) == 0) {
+    // unconfigured
+          StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"DCCEX_%s\",\"PASS_%s\",%d,4\r\n"),
+                                            oldCmd ? "" : "_CUR", macTail, macTail, channel);
+        } else {
+          // password configured by user
+          StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"DCCEX_%s\",\"%S\",%d,4\r\n"), oldCmd ? "" : "_CUR",
+                                          macTail, password, channel);
+        }
       } else {
-        // password configured by user
-       StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"DCCEX_%s\",\"%S\",%d,4\r\n"), oldCmd ? "" : "_CUR",
-	                                       macTail, password, channel);
+        StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"%S\",\"%S\",%d,4\r\n"),
+                                        oldCmd ? "" : "_CUR", SSid, password, channel);
       }
     } while (!checkForOK(WIFI_CONNECT_TIMEOUT, true) && i++<2); // do twice if necessary but ignore failure as AP mode may still be ok
     if (i >= 2)

WifiInterface.h

@@ -1,6 +1,7 @@
 /*
  *  © 2020-2021 Chris Harlow
  *  © 2020, Harald Barth.
+ *  © 2023 Nathan Kellenicki
  *  All rights reserved.
  *
  *  This file is part of CommandStation-EX
@@ -36,17 +37,18 @@ public:
                           const FSH *wifiPassword,
                           const FSH *hostname,
                           const int port,
-                          const byte channel);
+                          const byte channel,
+                          const bool forceAP);
   static void loop();
   static void ATCommand(HardwareSerial * stream,const byte *command);
   
 private:
   static wifiSerialState setup(Stream &setupStream, const FSH *SSSid, const FSH *password,
-                    const FSH *hostname, int port, byte channel);
+                    const FSH *hostname, int port, byte channel, bool forceAP);
   static Stream *wifiStream;
   static DCCEXParser parser;
   static wifiSerialState setup2(const FSH *SSSid, const FSH *password,
-                     const FSH *hostname, int port, byte channel);
+                     const FSH *hostname, int port, byte channel, bool forceAP);
   static bool checkForOK(const unsigned int timeout, bool echo, bool escapeEcho = true);
   static bool checkForOK(const unsigned int timeout, const FSH *waitfor, bool echo, bool escapeEcho = true);
   static bool connected;

config.example.h

@@ -1,9 +1,10 @@
 /*
  *  © 2022 Paul M. Antoine
  *  © 2021 Neil McKechnie
- *  © 2020-2021 Harald Barth
+ *  © 2020-2023 Harald Barth
  *  © 2020-2021 Fred Decker
  *  © 2020-2021 Chris Harlow
+ *  © 2023 Nathan Kellenicki
  *  
  *  This file is part of CommandStation-EX
  *
@@ -27,6 +28,16 @@ The configuration file for DCC-EX Command Station
 
 **********************************************************************/
 
+/////////////////////////////////////////////////////////////////////////////////////
+// If you want to add your own motor driver definition(s), add them here
+//   For example MY_SHIELD with display name "MINE":
+//   (remove comment start and end marker if you want to edit and use that)
+/* 
+#define MY_SHIELD F("MINE"), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 5.08, 3000, A4), \
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 5.08, 1500, A5)
+*/
+
 /////////////////////////////////////////////////////////////////////////////////////
 //  NOTE: Before connecting these boards and selecting one in this software
 //        check the quick install guides!!! Some of these boards require a voltage
@@ -34,19 +45,34 @@ The configuration file for DCC-EX Command Station
 //        the correct resistor could damage the sense pin on your Arduino or destroy
 //        the device.
 //
-// DEFINE MOTOR_SHIELD_TYPE BELOW ACCORDING TO THE FOLLOWING TABLE:
+// DEFINE MOTOR_SHIELD_TYPE BELOW. THESE ARE EXAMPLES. FULL LIST IN MotorDrivers.h
 //
 //  STANDARD_MOTOR_SHIELD : Arduino Motor shield Rev3 based on the L298 with 18V 2A per channel
 //  POLOLU_MOTOR_SHIELD   : Pololu MC33926 Motor Driver (not recommended for prog track)
-//  POLOLU_TB9051FTG      : Pololu Dual TB9051FTG Motor Driver
 //  FUNDUMOTO_SHIELD      : Fundumoto Shield, no current sensing (not recommended, no short protection)
 //  FIREBOX_MK1           : The Firebox MK1                    
 //  FIREBOX_MK1S          : The Firebox MK1S
 //  IBT_2_WITH_ARDUINO    : Arduino Motor Shield for PROG and IBT-2 for MAIN
+//  EX8874_SHIELD         : DCC-EX TI DRV8874 based motor shield
 //   |
 //   +-----------------------v
 //
 #define MOTOR_SHIELD_TYPE STANDARD_MOTOR_SHIELD
+//
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// If you want to restrict the maximum current LOWER than what your
+// motor shield can provide, you can do that here. For example if you
+// have a motor shield that can provide 5A and your power supply can
+// only provide 2.5A then you should restict the maximum current to
+// 2.25A (90% of 2.5A) so that DCC-EX does shut off the track before
+// your PS does shut DCC-EX. MAX_CURRENT is in mA so for this example
+// it would be 2250, adjust the number according to your PS. If your
+// PS has a higher rating than your motor shield you do not need this.
+// You can use this as well if you are cautious and your trains do not
+// need full current.
+// #define MAX_CURRENT 2250
+//
 /////////////////////////////////////////////////////////////////////////////////////
 //
 // The IP port to talk to a WIFI or Ethernet shield.
@@ -98,6 +124,11 @@ The configuration file for DCC-EX Command Station
 // this line exists or not. If you need to use an alternate channel (we recommend
 // using only 1,6, or 11) you may change it here.
 #define WIFI_CHANNEL 1
+//
+// WIFI_FORCE_AP: If you'd like to specify your own WIFI_SSID in AP mode, set this
+// true. Otherwise it is assumed that you'd like to connect to an existing network
+// with that SSID.
+#define WIFI_FORCE_AP false
 
 /////////////////////////////////////////////////////////////////////////////////////
 //
@@ -128,7 +159,7 @@ The configuration file for DCC-EX Command Station
 //OR define OLED_DRIVER width,height[,address] in pixels (address auto detected if not supplied)
 // 128x32 or 128x64 I2C SSD1306-based devices are supported.
 // Use 132,64 for a SH1106-based I2C device with a 128x64 display.
-// #define OLED_DRIVER 128,32,0x3c
+// #define OLED_DRIVER 0x3c,128,32
 
 // Define scroll mode as 0, 1 or 2
 //  *  #define SCROLLMODE 0 is scroll continuous (fill screen if poss),
@@ -141,7 +172,7 @@ The configuration file for DCC-EX Command Station
 //
 // 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
+// and want to use the EXRAIL automation. Otherwise you do not have enough RAM
 // to do that. Of course, then none of the EEPROM related commands work.
 //
 // EEPROM does not work on ESP32. So on ESP32, EEPROM will always be disabled,
@@ -149,6 +180,17 @@ The configuration file for DCC-EX Command Station
 //
 // #define DISABLE_EEPROM
 
+/////////////////////////////////////////////////////////////////////////////////////
+// DISABLE PROG
+//
+// If you do not need programming capability, you can disable all programming related
+// commands. You might want to do that if you are using an Arduino UNO and still want
+// to use EXRAIL automation, as the Uno is lacking in RAM and Flash to run both.
+// 
+// Note this disables all programming functionality, including EXRAIL.
+//
+// #define DISABLE_PROG
+
 /////////////////////////////////////////////////////////////////////////////////////
 // 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
@@ -224,5 +266,15 @@ The configuration file for DCC-EX Command Station
 //
 //#define SERIAL_BT_COMMANDS
 
+// SABERTOOTH
+//
+// This is a very special option and only useful if you happen to have a
+// sabertooth motor controller from dimension engineering configured to
+// take commands from and ESP32 via serial at 9600 baud from GPIO17 (TX)
+// and GPIO16 (RX, currently unused).
+// The number defined is the DCC address for which speed controls are sent
+// to the sabertooth controller _as_well_. Default: Undefined.
+//
+//#define SABERTOOTH 1
 
 /////////////////////////////////////////////////////////////////////////////////////

config.h.txt

@@ -1,169 +0,0 @@
-/**********************************************************************
-
-Config.h
-COPYRIGHT (c) 2013-2016 Gregg E. Berman
-COPYRIGHT (c) 2020 Fred Decker
-
-The configuration file for DCC++ EX Command Station
-
-**********************************************************************/
-/////////////////////////////////////////////////////////////////////////////////////
-//  NOTE: Before connecting these boards and selecting one in this software
-//        check the quick install guides!!! Some of these boards require a voltage
-//        generating resitor on the current sense pin of the device. Failure to select
-//        the correct resistor could damage the sense pin on your Arduino or destroy
-//        the device.
-//
-// DEFINE MOTOR_SHIELD_TYPE BELOW ACCORDING TO THE FOLLOWING TABLE:
-//
-//  STANDARD_MOTOR_SHIELD : Arduino Motor shield Rev3 based on the L298 with 18V 2A per channel
-//  POLOLU_MOTOR_SHIELD   : Pololu MC33926 Motor Driver (not recommended for prog track)
-//  FUNDUMOTO_SHIELD      : Fundumoto Shield, no current sensing (not recommended, no short protection)
-//  FIREBOX_MK1           : The Firebox MK1                    
-//  FIREBOX_MK1S          : The Firebox MK1S    
-//   |
-//   +-----------------------v
-//
-// #define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"),                                              
-//                               new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 0.488, 1500, UNUSED_PIN),
-//                               new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 0.488, 1500, UNUSED_PIN)
-
-#define MOTOR_SHIELD_TYPE STANDARD_MOTOR_SHIELD
-
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// The IP port to talk to a WIFI or Ethernet shield.
-//
-#define IP_PORT 2560
-
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// NOTE: Only supported on Arduino Mega
-// Set to false if you not even want it on the Arduino Mega
-//
-//#define ENABLE_WIFI true
-
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// DEFINE WiFi Parameters (only in effect if WIFI is on)
-//
-// If DONT_TOUCH_WIFI_CONF is set, all WIFI config will be done with
-// the <+> commands and this sketch will not change anything over
-// AT commands and the other WIFI_* defines below do not have any effect.
-//#define DONT_TOUCH_WIFI_CONF
-//
-// WIFI_SSID is the network name IF you want to use your existing home network.
-// Do NOT change this if you want to use the WiFi in Access Point (AP) mode. 
-//
-// If you do NOT set the WIFI_SSID, the WiFi chip will first try
-// to connect to the previously configured network and if that fails
-// fall back to Access Point mode. The SSID of the AP will be
-// automatically set to DCCEX_*.
-//
-// Your SSID may not conain ``"'' (double quote, ASCII 0x22).
-#define WIFI_SSID "Your network name"
-//
-// WIFI_PASSWORD is the network password for your home network or if
-// you want to change the password from default AP mode password
-// to the AP password you want. 
-// Your password may not conain ``"'' (double quote, ASCII 0x22).
-#define WIFI_PASSWORD "deadcafe"
-//
-// WIFI_HOSTNAME: You probably don't need to change this
-#define WIFI_HOSTNAME "dccex"
-//
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// Wifi connect timeout in milliseconds. Default is 14000 (14 seconds). You only need
-// to set this if you have an extremely slow Wifi router.
-//
-#define WIFI_CONNECT_TIMEOUT 14000
-
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// ENABLE_ETHERNET: Set to true if you have an Arduino Ethernet card (wired). This
-// is not for Wifi. You will then need the Arduino Ethernet library as well
-//
-//#define ENABLE_ETHERNET true
-
-
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// DEFINE STATIC IP ADDRESS *OR* COMMENT OUT TO USE DHCP
-//
-//#define IP_ADDRESS { 192, 168, 1, 31 }
-
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// DEFINE MAC ADDRESS ARRAY FOR ETHERNET COMMUNICATIONS INTERFACE
-//
-// Uncomment to use with Ethernet Shields
-//
-// Ethernet Shields do not have have a MAC address in hardware. There may be one on 
-// a sticker on the Shield that you should use. Otherwise choose one of the ones below
-// Be certain that no other device on your network has this same MAC address!
-//
-// 52:b8:8a:8e:ce:21
-// e3:e9:73:e1:db:0d
-// 54:2b:13:52:ac:0c
-
-// NOTE: This is not used with ESP8266 WiFi modules.
-
-//#define MAC_ADDRESS { 0x52, 0xB8, 0x8A, 0x8E, 0xCE, 0x21 }      // MAC address of your networking card found on the sticker on your card or take one from above
-
-// 
-// #define MAC_ADDRESS {  0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xEF }
-
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// 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',
-//       OR an I2C Oled screen based on SSD1306 (128x64 or 128x32) controller,
-//       OR an I2C Oled screen based on SH1106 (132x64) controller.
-// To enable, uncomment one of the lines below
-
-// define LCD_DRIVER for I2C LCD address 0x3f,16 cols, 2 rows
-//#define LCD_DRIVER  {SubBus_4,0x27},20,4
-
-//OR define OLED_DRIVER width,height in pixels (address auto detected) 
-#if defined(ARDUINO_ARCH_STM32) 
-#define OLED_DRIVER 0x3c, 128, 64
-#else
-#define OLED_DRIVER {SubBus_0,0x3c}, 128, 32
-#endif
-
-#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 work.
-//
-#define DISABLE_EEPROM
-
-
-/////////////////////////////////////////////////////////////////////////////////////
-//
-// DEFINE TURNOUTS/ACCESSORIES FOLLOW NORM 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
-
-// The following #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
-
-/////////////////////////////////////////////////////////////////////////////////////

defines.h

@@ -148,7 +148,6 @@
   #define I2C_USE_WIRE
   #endif
 
-
 /* TODO when ready 
 #elif defined(ARDUINO_ARCH_RP2040)
   #define ARDUINO_TYPE "RP2040"
@@ -183,6 +182,15 @@
   #define WIFI_ON false
 #endif
 
+#ifndef WIFI_FORCE_AP
+  #define WIFI_FORCE_AP false
+#else
+  #if WIFI_FORCE_AP==true || WIFI_FORCE_AP==false
+  #else
+    #error WIFI_FORCE_AP needs to be true or false
+  #endif
+#endif
+
 #if ENABLE_ETHERNET
   #if defined(HAS_ENOUGH_MEMORY)
     #define ETHERNET_ON true
@@ -205,8 +213,21 @@
 //
 #define WIFI_SERIAL_LINK_SPEED 115200
 
+////////////////////////////////////////////////////////////////////////////////
+//
+// Define symbol IO_NO_HAL to reduce FLASH footprint when HAL features not required
+// The HAL is disabled by default on Nano and Uno platforms, because of limited flash space.
+// 
+#if defined(ARDUINO_AVR_NANO) || defined(ARDUINO_AVR_UNO)
+  #if defined(DISABLE_DIAG) && defined(DISABLE_EEPROM) && defined(DISABLE_PROG)
+    #warning you have sacrificed DIAG for HAL
+  #else
+    #define IO_NO_HAL
+  #endif
+#endif
+
 #if __has_include ( "myAutomation.h")
-  #if defined(HAS_ENOUGH_MEMORY) || defined(DISABLE_EEPROM)
+  #if defined(HAS_ENOUGH_MEMORY) || defined(DISABLE_EEPROM) || defined(DISABLE_PROG)
     #define EXRAIL_ACTIVE
   #else
     #define EXRAIL_WARNING

installer.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 #
-# © 2022 Harald Barth
+# © 2022,2023 Harald Barth
 # 
 # This file is part of CommandStation-EX
 #
@@ -29,14 +29,33 @@ ACLI="./bin/arduino-cli"
 
 function need () {
     type -p $1 > /dev/null && return
+    dpkg -l $1 2>&1 | egrep ^ii >/dev/null && return
     sudo apt-get install $1
     type -p $1 > /dev/null && return
     echo "Could not install $1, abort"
     exit 255
 }
 
-
 need git
+
+if cat /etc/issue | egrep '^Raspbian' 2>&1 >/dev/null ; then
+    # we are on a raspi where we do not support graphical
+    unset DISPLAY
+fi
+
+if [ x$DISPLAY != x ] ; then
+    # we have DISPLAY, do the graphic thing
+    need python3-tk
+    need python3.8-venv
+    mkdir -p ~/ex-installer/venv
+    python3 -m venv ~/ex-installer/venv
+    cd ~/ex-installer/venv || exit 255
+    source ./bin/activate
+    git clone https://github.com/DCC-EX/EX-Installer
+    cd EX-Installer || exit 255
+    pip3 install -r requirements.txt
+    exec python3 -m ex_installer
+fi
 if test -d `basename "$DCCEXGITURL"` ; then
     : assume we are almost there
     cd `basename "$DCCEXGITURL"` || exit 255

myHal.cpp_example.txt

@@ -51,7 +51,7 @@ void halSetup() {
   // Create a 20x4 LCD display device as display number 2 
   // (line 0 is written by EX-RAIL 'SCREEN(2, 0, "text")').
 
-  // HALDisplay<LiquidCrystal>(2, 0x27, 20, 4);
+  // HALDisplay<LiquidCrystal>::create(2, 0x27, 20, 4);
 
 
   //=======================================================================

platformio.ini

@@ -30,7 +30,7 @@ include_dir = .
 
 [env]
 build_flags = -Wall -Wextra
-monitor_filters = time
+; monitor_filters = time
 ; lib_deps = adafruit/Adafruit ST7735 and ST7789 Library @ ^1.10.0
 
 [env:samd21-dev-usb]
@@ -173,6 +173,8 @@ board = esp32dev
 framework = arduino
 lib_deps = ${env.lib_deps}
 build_flags = -std=c++17
+monitor_speed = 115200
+monitor_echo = yes
 
 [env:Nucleo-F411RE]
 platform = ststm32
@@ -188,7 +190,7 @@ platform = ststm32
 board = nucleo_f446re
 framework = arduino
 lib_deps = ${env.lib_deps}
-build_flags = -std=c++17  -Os -g2 -Wunused-variable -DDIAG_LOOPTIMES ; -DDIAG_IO 
+build_flags = -std=c++17  -Os -g2 -Wunused-variable ; -DDIAG_LOOPTIMES ; -DDIAG_IO 
 monitor_speed = 115200
 monitor_echo = yes
 

version.h

@@ -3,8 +3,50 @@
 
 #include "StringFormatter.h"
 
-
-#define VERSION "4.2.48"
+#define VERSION "5.1.5"
+// 5.1.5  - Added turntable object and EXRAIL commands
+//        - <I ...>, <JO ...>, <JP ...> - turntable commands
+//        - DCC_TURNTABLE, EXTT_TURNTABLE, IFTTPOSITION, ONROTATE, ROTATE, ROTATE_DCC, TT_ADDPOSITION, WAITFORTT EXRAIL
+// 5.1.4  - Added ONOVERLOAD & AFTEROVERLOAD to EXRAIL
+// 5.1.3  - Make parser more fool proof
+// 5.1.2  - Bugfix: ESP32 30ms off time
+// 5.1.1  - Check bad AT firmware version
+//        - Update IO_PCA9555.h reflecting IO_MCP23017.h changes to support PCA9548 mux
+// 5.0.1  - Bugfix: execute 30ms off time before rejoin
+// 5.0.0  - Make 4.2.69 the 5.0.0 release
+// 4.2.69 - Bugfix: Make <!> work in DC mode
+// 4.2.68 - Rename track mode OFF to NONE
+// 4.2.67 - AVR: Pin specific timer register seting
+//        - Protect Uno user from choosing DC(X)
+//        - More Nucleo variant defines
+//        - GPIO PCA9555 / TCA9555 support
+// 4.2.66 - Throttle inrush current by applying PWM to brake pin when
+//          fault pin goes active
+// 4.2.65 - new config WIFI_FORCE_AP option
+// 4.2.63 - completely new overcurrent detection
+//        - ESP32 protect from race in RMT code
+// 4.2.62 - Update IO_RotaryEncoder.h to ignore sending current position
+//        - Update IO_EXTurntable.h to remove forced I2C clock speed
+//        - Show device offline if EX-Turntable not connected
+// 4.2.61 - MAX_CURRENT restriction (caps motor shield value)
+// 4.2.60 - Add mDNS capability to ESP32 for autodiscovery
+// 4.2.59 - Fix: AP SSID was DCC_ instead of DCCEX_
+// 4.2.58 - Start motordriver as soon as possible but without waveform
+// 4.2.57 - New overload handling (faster and handles commonFaultPin again)
+//        - Optimize analog read STM32
+// 4.2.56 - Update IO_RotaryEncoder.h:
+//        - Improved I2C communication, non-blocking reads
+//        - Enable sending positions to the encoder from EXRAIL via SERVO()
+// 4.2.55 - Optimize analog read for AVR
+// 4.2.54 - EX8874 shield in config.example.h
+//        - Fix: Better warnings for pin number errors
+//        - Fix: Default roster list possible in Withrottle and <jR>
+//        - Fix: Pin handling supports pins up to 254
+// 4.2.53 - Fix: Fault pin handling made more straight forward
+// 4.2.52 - Experimental support for sabertooth motor controller on ESP32
+// 4.2.51 - Add DISABLE_PROG to disable programming to save RAM/Flash
+// 4.2.50 - Fixes: estop all, turnout eeprom, cab ID check
+// 4.2.49 - Exrail SPEED take notice of external direction change 
 // 4.2.48 - BROADCAST/WITHROTTLE Exrail macros 
 // 4.2.47 - Correct response to <JA 0>
 // 4.2.46 - Support boards with inverted fault pin