version 5.4.4

Bugfix: trailing > in command was not replaced with \0 which did break <+> commands
Bugfix: serial COMMAND_BUFFER_SIZE could be silently overrun
2025-07-29 18:33:44 +02:00 · 2025-01-31 11:22:55 +01:00 · 2025-01-31 11:19:22 +01:00 · 2025-01-31 11:17:59 +01:00 · 2025-01-21 09:35:58 +00:00 · 2025-01-20 22:41:47 +01:00
56 changed files with 1166 additions and 340 deletions
--- a/CamParser.cpp
+++ b/CamParser.cpp
@@ -0,0 +1,95 @@
+
+//sensorCAM parser.cpp version 3.03  Sep 2024
+#include "CamParser.h"
+#include "FSH.h"
+#include "IO_EXSensorCAM.h"
+
+#ifndef SENSORCAM_VPIN       //define CAM vpin (700?) in config.h
+#define SENSORCAM_VPIN 0     
+#endif
+#define CAM_VPIN SENSORCAM_VPIN
+#ifndef SENSORCAM2_VPIN 
+#define SENSORCAM2_VPIN CAM_VPIN
+#endif
+#ifndef SENSORCAM3_VPIN 
+#define SENSORCAM3_VPIN 0
+#endif
+const int CAMVPINS[] = {CAM_VPIN,SENSORCAM_VPIN,SENSORCAM2_VPIN,SENSORCAM3_VPIN};
+const int16_t ver=30177;
+const int16_t ve =2899;
+
+VPIN EXSensorCAM::CAMBaseVpin = CAM_VPIN;
+
+bool CamParser::parseN(Print * stream, byte paramCount, int16_t p[]) {
+  (void)stream;  // probably unused parameter 
+  VPIN vpin=EXSensorCAM::CAMBaseVpin;   //use current CAM selection
+
+  if (paramCount==0) { 
+    DIAG(F("vpin:%d EXSensorCAMs defined at Vpins #1@ %d #2@ %d #3@ %d"),vpin,CAMVPINS[1],CAMVPINS[2],CAMVPINS[3]);
+    return true; 
+  }
+  uint8_t camop=p[0]; // cam oprerator 
+  int param1=0;
+  int16_t param3=9999;   // =0 could invoke parameter changes. & -1 gives later errors
+
+  if(camop=='C'){ 
+    if(p[1]>=100) EXSensorCAM::CAMBaseVpin=p[1];
+    if(p[1]<4) EXSensorCAM::CAMBaseVpin=CAMVPINS[p[1]];
+    DIAG(F("CAM base Vpin: %c %d "),p[0],EXSensorCAM::CAMBaseVpin);
+    return true;
+  }
+  if (camop<100) {               //switch CAM# if p[1] dictates
+    if(p[1]>=100 && p[1]<400) {  //limits to CAM# 1 to 3 for now
+      vpin=CAMVPINS[p[1]/100];
+      EXSensorCAM::CAMBaseVpin=vpin;     
+      DIAG(F("switching to CAM %d baseVpin:%d"),p[1]/100,vpin); 
+      p[1]=p[1]%100;             //strip off CAM #
+    } 
+  }
+  if (EXSensorCAM::CAMBaseVpin==0) return false; // no cam defined 
+
+  
+      // send UPPER case to sensorCAM to flag binary data from a DCCEX-CS parser  
+  switch(paramCount) {    
+    case 1:                          //<N ver> produces '^'
+      if((p[0] == ve) || (p[0] == ver) || (p[0] == 'V')) camop='^'; 
+      if (STRCHR_P((const char *)F("EFGMQRVW^"),camop) == nullptr) return false;
+      if (camop=='Q') param3=10;     //<NQ> for activation state of all 10 banks of sensors
+      if (camop=='F') camop=']';     //<NF> for Reset/Finish webCAM.
+      break;    // F Coded as ']' else conflicts with <Nf %%>
+    
+    case 2:                          //<N camop p1>  
+      if (STRCHR_P((const char *)F("ABFILMNOPQRSTUV"),camop)==nullptr) return false;
+      param1=p[1];
+      break;
+    
+    case 3:              //<N vpin rowY colx > or <N cmd p1 p2>
+      camop=p[0];
+      if (p[0]>=100) {   //vpin - i.e. NOT 'A' through 'Z'
+        if (p[1]>236 || p[1]<0) return false;     //row
+        if (p[2]>316 || p[2]<0) return false;     //column
+        camop=0x80;      // special 'a' case for IO_SensorCAM
+        vpin = p[0];
+      }else if (STRCHR_P((const char *)F("IJMNT"),camop) == nullptr) return false; 
+      param1 = p[1];  
+      param3 = p[2];
+      break;
+    
+    case 4:          //<N a id row col> 
+      if (camop!='A') return false;          //must start with 'a' 
+      if (p[3]>316 || p[3]<0) return false;
+      if (p[2]>236 || p[2]<0) return false;
+      if (p[1]>97 || p[1]<0) return false;   //treat as bsNo.
+      vpin = vpin + (p[1]/10)*8 + p[1]%10;   //translate p[1]
+      camop=0x80;    // special 'a' case for IO_SensorCAM
+      param1=p[2];   // row
+      param3=p[3];   // col
+      break;
+
+    default:
+      return false;
+  }
+  DIAG(F("CamParser: %d %c %d %d"),vpin,camop,param1,param3);
+  IODevice::writeAnalogue(vpin,param1,camop,param3);
+  return true;
+}
--- a/CamParser.h
+++ b/CamParser.h
@@ -0,0 +1,12 @@
+#ifndef CamParser_H
+#define CamParser_H
+#include <Arduino.h>
+#include "IODevice.h"
+
+class CamParser {
+   public:
+   static bool parseN(Print * stream, byte paramCount, int16_t p[]);
+};
+
+
+#endif
--- a/CommandDistributor.cpp
+++ b/CommandDistributor.cpp
@@ -377,4 +377,3 @@ void CommandDistributor::setVirtualLCDSerial(Print * stream) {
 Print* CommandDistributor::virtualLCDSerial=&USB_SERIAL;
 byte CommandDistributor::virtualLCDClient=0xFF;
 byte CommandDistributor::rememberVLCDClient=0;
-
--- a/DCC.cpp
+++ b/DCC.cpp
@@ -229,15 +229,9 @@ bool DCC::setFn( int cab, int16_t functionNumber, bool on) {

 // Flip function state (used from withrottle protocol)
 void DCC::changeFn( int cab, int16_t functionNumber) {
-  if (cab<=0 || functionNumber>31) return;
-  int reg = lookupSpeedTable(cab);
-  if (reg<0) return;
-  unsigned long funcmask = (1UL<<functionNumber);
-  speedTable[reg].functions ^= funcmask;
-  if (functionNumber <= 28) {
-    updateGroupflags(speedTable[reg].groupFlags, functionNumber);
-  }
-  CommandDistributor::broadcastLoco(reg);
+  auto currentValue=getFn(cab,functionNumber);
+  if (currentValue<0) return;  // function not valid for change  
+  setFn(cab,functionNumber, currentValue?false:true);
 }

 // Report function state (used from withrottle protocol)
--- a/DCCACK.cpp
+++ b/DCCACK.cpp
@@ -67,16 +67,24 @@ CALLBACK_STATE DCCACK::callbackState=READY;
 ACK_CALLBACK DCCACK::ackManagerCallback;

 void  DCCACK::Setup(int cv, byte byteValueOrBitnum, ackOp const program[], ACK_CALLBACK callback) {
+  // On ESP32 the joined track is hidden from sight (it has type MAIN)
+  // and because of that we need first check if track was joined and
+  // then unjoin if necessary. This requires that the joined flag is
+  // cleared when the prog track is removed.
  ackManagerRejoin=TrackManager::isJoined();
+  //DIAG(F("Joined is %d"), ackManagerRejoin);
  if (ackManagerRejoin) {
    // Change from JOIN must zero resets packet.
    TrackManager::setJoin(false);
    DCCWaveform::progTrack.clearResets();
  }
-
  progDriver=TrackManager::getProgDriver();
+  //DIAG(F("Progdriver is %d"), progDriver);
  if (progDriver==NULL) {
-    TrackManager::setJoin(ackManagerRejoin);
+    if (ackManagerRejoin) {
+      DIAG(F("Joined but no Prog track"));
+      TrackManager::setJoin(false);
+    }
    callback(-3); // we dont have a prog track!
    return;
  }
@@ -483,4 +491,3 @@ void DCCACK::checkAck(byte sentResetsSincePacket) {
    }      
    ackPulseStart=0;  // We have detected a too-short or too-long pulse so ignore and wait for next leading edge 
 }
-
--- a/DCCEXParser.cpp
+++ b/DCCEXParser.cpp
@@ -117,6 +117,7 @@ Once a new OPCODE is decided upon, update this list.
 #include "Turntables.h"
 #include "version.h"
 #include "KeywordHasher.h"
+#include "CamParser.h"
 #ifdef ARDUINO_ARCH_ESP32
 #include "WifiESP32.h"
 #endif
@@ -166,8 +167,10 @@ int16_t DCCEXParser::splitValues(int16_t result[MAX_COMMAND_PARAMS], byte *cmd,
                break;
            if (hot == '\0')
 	      return -1;
-	    if (hot == '>')
+	    if (hot == '>') {
+	      *remainingCmd = '\0';  // terminate the cmd string with 0 instead of '>'
 	      return parameterCount;
+	    }
            state = 2;
            continue;

@@ -264,8 +267,9 @@ void DCCEXParser::parse(const FSH * cmd) {
 // See documentation on DCC class for info on this section

 void DCCEXParser::parse(Print *stream,  byte *com,  RingStream *ringStream) {
-  // This function can get stings of the form "<C OMM AND>" or "C OMM AND"
-  // found is true first after the leading "<" has been passed
+  // This function can get stings of the form "<C OMM AND>" or "C OMM AND>"
+  // found is true first after the leading "<" has been passed which results
+  // in parseOne() getting c="C OMM AND>"
  bool found = (com[0] != '<');
  for (byte *c=com; c[0] != '\0'; c++) {
    if (found) {
@@ -401,7 +405,8 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
           || (p[activep] > 1) || (p[activep] < 0) // invalid activate 0|1
 	      ) break;
          // Honour the configuration option (config.h) which allows the <a> command to be reversed
-#ifdef DCC_ACCESSORY_COMMAND_REVERSE
+	  // Because of earlier confusion we need to do the same thing under both defines
+#if defined(DCC_ACCESSORY_COMMAND_REVERSE)
          DCC::setAccessory(address, subaddress,p[activep]==0,onoff);
 #else
          DCC::setAccessory(address, subaddress,p[activep]==1,onoff);
@@ -457,7 +462,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
            else IODevice::write(-p[0],LOW);
            return;
        }
-        if (params>=2 && params<=4) { // <z vpin ana;og profile duration> 
+        if (params>=2 && params<=4) { // <z vpin analog profile duration> 
            // unused params default to 0           
            IODevice::writeAnalogue(p[0],p[1],p[2],p[3]);
            return;
@@ -876,7 +881,11 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
            return;
        break;
 #endif
-
+#ifndef IO_NO_HAL
+    case 'N': // <N  commands for SensorCam
+        if (CamParser::parseN(stream,params,p)) return;
+        break;
+#endif
    case '/': // implemented in EXRAIL parser
    case 'L': // LCC interface implemented in EXRAIL parser
        break; // Will <X> if not intercepted by EXRAIL 
--- a/DCCRMT.h
+++ b/DCCRMT.h
@@ -44,6 +44,12 @@ class RMTChannel {
      return true;
    return dataReady;
  };
+  inline void waitForDataCopy() {
+    while(1) { // do nothing and wait for interrupt clearing dataReady to happen
+      if (dataReady == false)
+	break;
+    }
+  };
  inline uint32_t packetCount() { return packetCounter; };
  
 private:
--- a/DCCTimerAVR.cpp
+++ b/DCCTimerAVR.cpp
@@ -197,6 +197,8 @@ void DCCTimer::DCCEXanalogWriteFrequency(uint8_t pin, uint32_t f) {
 }
 void DCCTimer::DCCEXanalogWriteFrequencyInternal(uint8_t pin, uint32_t fbits) {
 #if defined(ARDUINO_AVR_UNO)
+      (void)fbits;
+      (void) pin;
      // 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.
--- a/DCCTimerESP.cpp
+++ b/DCCTimerESP.cpp
@@ -80,7 +80,7 @@ int DCCTimer::freeMemory() {

 #include "esp_idf_version.h"
 #if ESP_IDF_VERSION_MAJOR > 4
-#error "DCC-EX does not support compiling with IDF version 5.0 or later. Downgrade your ESP32 library to a version that contains IDE version 4. Arduino ESP32 library 3.0.0 is too new. Downgrade to one of 2.0.9 to 2.0.17"
+#error "DCC-EX does not support compiling with IDF version 5.0 or later. Downgrade your ESP32 library to a version that contains IDF version 4. Arduino ESP32 library 3.0.0 is too new. Downgrade to one of 2.0.9 to 2.0.17"
 #endif

 #include "DIAG.h"
@@ -324,4 +324,3 @@ void ADCee::begin() {
 }

 #endif //ESP32
-
--- a/DCCWaveform.cpp
+++ b/DCCWaveform.cpp
@@ -278,7 +278,11 @@ void DCCWaveform::begin() {

 void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repeats) {
  if (byteCount > MAX_PACKET_SIZE) return; // allow for chksum
-  
+  RMTChannel *rmtchannel = (isMainTrack ? rmtMainChannel : rmtProgChannel);
+  if (rmtchannel == NULL)
+    return; // no idea to prepare packet if we can not send it anyway
+
+  rmtchannel->waitForDataCopy(); // blocking wait so we can write into buffer
  byte checksum = 0;
  for (byte b = 0; b < byteCount; b++) {
    checksum ^= buffer[b];
@@ -296,13 +300,7 @@ void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repea
  {
    int ret = 0;
    do {
-      if(isMainTrack) {
-	if (rmtMainChannel != NULL)
-	  ret = rmtMainChannel->RMTfillData(pendingPacket, pendingLength, pendingRepeats);
-      } else {
-	if (rmtProgChannel != NULL)
-	  ret = rmtProgChannel->RMTfillData(pendingPacket, pendingLength, pendingRepeats);
-      }
+      ret = rmtchannel->RMTfillData(pendingPacket, pendingLength, pendingRepeats);
    } while(ret > 0);
  }
 }
--- a/EXRAIL.h
+++ b/EXRAIL.h
@@ -1,3 +1,23 @@
+/*
+ *  © 2021 Fred Decker
+ *  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 EXRAIL_H
 #define EXRAIL_H

--- a/EXRAIL2.cpp
+++ b/EXRAIL2.cpp
@@ -4,6 +4,7 @@
 *  © 2021-2023 Harald Barth
 *  © 2020-2023 Chris Harlow
 *  © 2022-2023 Colin Murdoch
+ *  © 2025 Morten Nielsen
 *  All rights reserved.
 *  
 *  This file is part of CommandStation-EX
@@ -312,7 +313,7 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
    case OPCODE_EXTTTURNTABLE: {
      VPIN id=operand;
      VPIN pin=getOperand(progCounter,1);
-      int home=getOperand(progCounter,3);
+      int home=getOperand(progCounter,2);
      setTurntableHiddenState(EXTTTurntable::create(id,pin));
      Turntable *tto=Turntable::get(id);
      tto->addPosition(0,0,home);
@@ -677,13 +678,14 @@ void RMFT2::loop2() {
    break;

  case OPCODE_SET:
-    killBlinkOnVpin(operand);
-    IODevice::write(operand,true);
-    break;
-    
  case OPCODE_RESET:
-    killBlinkOnVpin(operand);
-    IODevice::write(operand,false);
+    { 
+      auto count=getOperand(1);
+      for (uint16_t i=0;i<count;i++) {
+        killBlinkOnVpin(operand+i);
+        IODevice::write(operand+i,opcode==OPCODE_SET);
+      }
+    }
    break;
  
  case OPCODE_BLINK: 
@@ -870,6 +872,14 @@ void RMFT2::loop2() {
    DCC::changeFn(operand,getOperand(1));
    break;
    
+  case OPCODE_XFWD:
+    DCC::setThrottle(operand,getOperand(1), true);
+    break;
+
+  case OPCODE_XREV:
+    DCC::setThrottle(operand,getOperand(1), false);
+    break;
+
  case OPCODE_DCCACTIVATE: {
    // operand is address<<3 | subaddr<<1 | active
    int16_t addr=operand>>3;
@@ -1327,7 +1337,7 @@ 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("powerEvent : %c"), track);
+   DIAG(F("powerEvent : %c"), track + 'A');
  if (overload) {
    onOverloadLookup->handleEvent(F("POWER"),track);
  }
--- a/EXRAIL2.h
+++ b/EXRAIL2.h
@@ -3,6 +3,7 @@
 *  © 2020-2022 Chris Harlow
 *  © 2022-2023 Colin Murdoch
 *  © 2023 Harald Barth
+ *  © 2025 Morten Nielsen
 *  All rights reserved.
 *  
 *  This file is part of CommandStation-EX
@@ -45,7 +46,7 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,OPCODE_TOGGLE_TURNOUT,
             OPCODE_ENDIF,OPCODE_ELSE,
             OPCODE_DELAY,OPCODE_DELAYMINS,OPCODE_DELAYMS,OPCODE_RANDWAIT,
             OPCODE_FON,OPCODE_FOFF,OPCODE_XFON,OPCODE_XFOFF,
-             OPCODE_FTOGGLE,OPCODE_XFTOGGLE,
+             OPCODE_FTOGGLE,OPCODE_XFTOGGLE,OPCODE_XFWD,OPCODE_XREV,
             OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,OPCODE_DRIVE,
             OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT,OPCODE_WAITFOR,
             OPCODE_PAD,OPCODE_FOLLOW,OPCODE_CALL,OPCODE_RETURN,
--- a/EXRAIL2MacroReset.h
+++ b/EXRAIL2MacroReset.h
@@ -2,6 +2,7 @@
 *  © 2020-2022 Chris Harlow. All rights reserved.
 *  © 2022-2023 Colin Murdoch
 *  © 2023 Harald Barth
+ *  © 2025 Morten Nielsen
 *  
 *  This file is part of CommandStation-EX
 *
@@ -194,6 +195,8 @@
 #undef XFOFF
 #undef XFON
 #undef XFTOGGLE
+#undef XREV
+#undef XFWD

 #ifndef RMFT2_UNDEF_ONLY
 #define ACTIVATE(addr,subaddr)
@@ -219,7 +222,7 @@
 #define CONFIGURE_SERVO(vpin,pos1,pos2,profile) 
 #define DCC_SIGNAL(id,add,subaddr)
 #define DCCX_SIGNAL(id,redAspect,amberAspect,greenAspect)
-#define DCC_TURNTABLE(id,home,description)
+#define DCC_TURNTABLE(id,home,description...)
 #define DEACTIVATE(addr,subaddr)
 #define DEACTIVATEL(addr)
 #define DELAY(mindelay)
@@ -233,7 +236,7 @@
 #define ENDTASK
 #define ESTOP 
 #define EXRAIL
-#define EXTT_TURNTABLE(id,vpin,home,description)
+#define EXTT_TURNTABLE(id,vpin,home,description...)
 #define FADE(pin,value,ms)
 #define FOFF(func)
 #define FOLLOW(route) 
@@ -309,7 +312,7 @@
 #define READ_LOCO 
 #define RED(signal_id) 
 #define RESERVE(blockid) 
-#define RESET(pin) 
+#define RESET(pin,count...) 
 #define RESUME 
 #define RETURN 
 #define REV(speed) 
@@ -335,7 +338,7 @@
 #define SERVO2(id,position,duration) 
 #define SERVO_SIGNAL(vpin,redpos,amberpos,greenpos)
 #define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) 
-#define SET(pin) 
+#define SET(pin,count...) 
 #define SET_TRACK(track,mode)
 #define SET_POWER(track,onoff)
 #define SETLOCO(loco) 
@@ -365,5 +368,7 @@
 #define XFOFF(cab,func)
 #define XFON(cab,func)
 #define XFTOGGLE(cab,func)
+#define XFWD(cab,speed)
+#define XREV(cab,speed)

 #endif
--- a/EXRAIL2Parser.cpp
+++ b/EXRAIL2Parser.cpp
@@ -363,4 +363,3 @@ bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
    return false;
  }
 }
-
--- a/EXRAILMacros.h
+++ b/EXRAILMacros.h
@@ -3,6 +3,7 @@
 *  © 2020-2022 Chris Harlow
 *  © 2022-2023 Colin Murdoch
 *  © 2023 Harald Barth
+ *  © 2025 Morten Nielsen
 *  All rights reserved.
 *  
 *  This file is part of CommandStation-EX
@@ -516,7 +517,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #ifndef IO_NO_HAL
 #define EXTT_TURNTABLE(id,vpin,home,description...) OPCODE_EXTTTURNTABLE,V(id),OPCODE_PAD,V(vpin),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 FADE(pin,value,ms) OPCODE_SERVO,V(pin),OPCODE_PAD,V(value),OPCODE_PAD,V((int16_t)PCA9685::ProfileType::UseDuration|(int16_t)PCA9685::ProfileType::NoPowerOff),OPCODE_PAD,V(ms/100L),
 #define FOFF(func) OPCODE_FOFF,V(func),
 #define FOLLOW(route) OPCODE_FOLLOW,V(route),
 #define FON(func) OPCODE_FON,V(func),
@@ -607,7 +608,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define READ_LOCO OPCODE_READ_LOCO1,0,0,OPCODE_READ_LOCO2,0,0,
 #define RED(signal_id) OPCODE_RED,V(signal_id),
 #define RESERVE(blockid) OPCODE_RESERVE,V(blockid),
-#define RESET(pin) OPCODE_RESET,V(pin),
+#define RESET(pin,count...) OPCODE_RESET,V(pin),OPCODE_PAD,V(#count[0] ? count+0: 1),
 #define RESUME OPCODE_RESUME,0,0,
 #define RETURN OPCODE_RETURN,0,0,
 #define REV(speed) OPCODE_REV,V(speed),
@@ -635,7 +636,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define SERVO2(id,position,ms) OPCODE_SERVO,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(PCA9685::Instant),OPCODE_PAD,V(ms/100L),
 #define SERVO_SIGNAL(vpin,redpos,amberpos,greenpos)
 #define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) OPCODE_SERVOTURNOUT,V(id),OPCODE_PAD,V(pin),OPCODE_PAD,V(activeAngle),OPCODE_PAD,V(inactiveAngle),OPCODE_PAD,V(PCA9685::ProfileType::profile),
-#define SET(pin) OPCODE_SET,V(pin),
+#define SET(pin,count...) OPCODE_SET,V(pin),OPCODE_PAD,V(#count[0] ? count+0: 1),
 #define SET_TRACK(track,mode)  OPCODE_SET_TRACK,V(TRACK_MODE_##mode  <<8 | TRACK_NUMBER_##track),
 #define SET_POWER(track,onoff) OPCODE_SET_POWER,V(TRACK_POWER_##onoff),OPCODE_PAD, V(TRACK_NUMBER_##track),
 #define SETLOCO(loco) OPCODE_SETLOCO,V(loco),
@@ -665,6 +666,8 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),
 #define XFON(cab,func) OPCODE_XFON,V(cab),OPCODE_PAD,V(func),
 #define XFTOGGLE(cab,func) OPCODE_XFTOGGLE,V(cab),OPCODE_PAD,V(func),
+#define XFWD(cab,speed) OPCODE_XFWD,V(cab),OPCODE_PAD,V(speed),
+#define XREV(cab,speed) OPCODE_XREV,V(cab),OPCODE_PAD,V(speed),

 // Build RouteCode
 const int StringMacroTracker2=__COUNTER__;
--- a/EXRAILSensor.h
+++ b/EXRAILSensor.h
@@ -47,4 +47,4 @@ class EXRAILSensor {
  bool onChange;
  byte latchDelay;
 };
-#endif
+#endif
--- a/GITHUB_SHA.h
+++ b/GITHUB_SHA.h
@@ -1 +1 @@
-#define GITHUB_SHA "devel-202409300806Z"
+#define GITHUB_SHA "c389fe9"
--- a/I2CManager_NonBlocking.h
+++ b/I2CManager_NonBlocking.h
@@ -384,4 +384,4 @@ void I2CManagerClass::handleInterrupt() {
  }
 }

-#endif
+#endif
--- a/I2CManager_Wire.h
+++ b/I2CManager_Wire.h
@@ -231,4 +231,4 @@ void I2CManagerClass::queueRequest(I2CRB *req) {
 ***************************************************************************/
 void I2CManagerClass::loop() {}

-#endif
+#endif
--- a/IODevice.cpp
+++ b/IODevice.cpp
@@ -627,4 +627,3 @@ bool ArduinoPins::fastReadDigital(uint8_t pin) {
 #endif
  return result;
 }
-
--- a/IODevice.h
+++ b/IODevice.h
@@ -38,6 +38,7 @@
 #include "FSH.h"
 #include "I2CManager.h"
 #include "inttypes.h"
+#include "TemplateForEnums.h"

 typedef uint16_t VPIN;
 // Limit VPIN number to max 32767.  Above this number, printing often gives negative values.
@@ -571,5 +572,6 @@ protected:
 #include "IO_TCA8418.h"
 #include "IO_NeoPixel.h"
 #include "IO_TM1638.h"
+#include "IO_EXSensorCAM.h"

 #endif // iodevice_h
--- a/IO_AnalogueInputs.h
+++ b/IO_AnalogueInputs.h
@@ -166,4 +166,4 @@ private:
  uint8_t _nextState;
 };

-#endif // io_analogueinputs_h
+#endif // io_analogueinputs_h
--- a/IO_DCCAccessory.cpp
+++ b/IO_DCCAccessory.cpp
@@ -65,4 +65,3 @@ void DCCAccessoryDecoder::_display() {
  DIAG(F("DCCAccessoryDecoder Configured on Vpins:%u-%u Addresses %d/%d-%d/%d)"), _firstVpin, _firstVpin+_nPins-1,
      ADDRESS(_packedAddress), SUBADDRESS(_packedAddress), ADDRESS(endAddress), SUBADDRESS(endAddress));
 }
-
--- a/IO_EXSensorCAM.h
+++ b/IO_EXSensorCAM.h
@@ -0,0 +1,425 @@
+/*  2024/08/14 
+ *  © 2024, Barry Daniel ESP32-CAM revision 
+ *
+ *  This file is part of EX-CommandStation
+ *
+ *  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/>.
+*/
+#define driverVer 305
+// v305 less debug & alpha ordered switch
+// v304 static oldb0;  t(##[,%%]; 
+// v303 zipped with CS 5.2.76 and uploaded to repo (with debug)
+// v302 SEND=StringFormatter::send, remove Sp(), add 'q', memcpy( .8) -> .7); 
+// v301 improved 'f','p'&'q' code and driver version calc. Correct bsNo calc. for 'a'							 
+// v300 stripped & revised without expander functionality. Needs sensorCAM.h v300 AND CamParser.cpp
+// v222 uses '@'for EXIORDD read.  handles <NB $> and <NN $ ##>
+// v216 includes 'j' command and uses CamParser rather than myFilter.h Incompatible with v203 senorCAM
+// v203 added pvtThreshold to 'i' output
+// v201 deleted code for compatibility with CAM pre v171. Needs CAM ver201 with o06 only
+// v200 rewrite reduces need for double reads of ESP32 slave CAM. Deleted ESP32CAP. 
+//  Inompatible with pre-v170 sensorCAM, unless set S06 to 0 and S07 to 1 (o06 & l07 say)
+/*
+ * The IO_EXSensorCAM.h device driver can integrate with the sensorCAM device.
+ * It is modelled on the IO_EXIOExpander.h device driver to include specific needs of the ESP32 sensorCAM 
+ * This device driver will configure the device on startup, along with CamParser.cpp
+ * interacting with the sensorCAM device for all input/output duties.
+ *
+ * #include "CamParser.h"      in DCCEXParser.cpp
+ * #include "IO_EXSensorCAM.h" in IODevice.h
+ * To create EX-SensorCAM devices, define them in myHal.cpp: with
+ * EXSensorCAM::create(baseVpin,num_vpins,i2c_address)  or
+ * alternatively use HAL(EXSensorCAM baseVpin numpins i2c_address) in myAutomation.h
+ * also #define SENSORCAM_VPIN baseVpin in config.h
+ *
+ * void halSetup() {
+ *   // EXSensorCAM::create(vpin, num_vpins, i2c_address);
+ *   EXSensorCAM::create(700, 80, 0x11);
+ * }
+ * 
+ * I2C packet size of 32 bytes (in the Wire library).
+*/
+# define DIGITALREFRESH 20000UL      // min uSec delay between digital reads of digitalInputStates
+#ifndef IO_EX_EXSENSORCAM_H
+#define IO_EX_EXSENSORCAM_H
+#define SEND StringFormatter::send
+#include "IODevice.h"
+#include "I2CManager.h"
+#include "DIAG.h"
+#include "FSH.h"
+#include "CamParser.h"
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ * IODevice subclass for EX-SensorCAM.
+*/
+class EXSensorCAM : public IODevice {
+  public:
+    static void create(VPIN vpin, int nPins, I2CAddress i2cAddress) {
+      if (checkNoOverlap(vpin, nPins, i2cAddress)) 
+      new EXSensorCAM(vpin, nPins, i2cAddress);
+    }
+  																
+    static VPIN CAMBaseVpin;					   
+
+  private:
+   // Constructor
+    EXSensorCAM(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
+      _firstVpin = firstVpin;
+     // Number of pins cannot exceed 255 (1 byte) because of I2C message structure.
+      if (nPins > 80) nPins = 80;
+      _nPins = nPins;
+      _I2CAddress = i2cAddress;
+      addDevice(this);
+    }
+//*************************
+void _begin() {
+    uint8_t status;
+    // Initialise EX-SensorCAM device
+    I2CManager.begin();
+    if (!I2CManager.exists(_I2CAddress)) {
+      DIAG(F("EX-SensorCAM I2C:%s device not found"), _I2CAddress.toString());
+      _deviceState = DEVSTATE_FAILED;
+      return;
+    }else {
+      uint8_t commandBuffer[4]={EXIOINIT,(uint8_t)_nPins,(uint8_t)(_firstVpin & 0xFF),(uint8_t)(_firstVpin>>8)};                                                                                 
+      status = I2CManager.read(_I2CAddress,_inputBuf,sizeof(_inputBuf),commandBuffer,sizeof(commandBuffer));
+        //EXIOINIT needed to trigger and send firstVpin to CAM
+
+      if (status == I2C_STATUS_OK) {
+        // Attempt to get version, non-blocking results in poor placement of response.  Can be blocking here! 
+        commandBuffer[0] = '^';    //new version code
+    
+        status = I2CManager.read(_I2CAddress, _inputBuf, sizeof(_inputBuf), commandBuffer, 1); 
+         // for ESP32 CAM, read again for good immediate response version data
+        status = I2CManager.read(_I2CAddress, _inputBuf, sizeof(_inputBuf), commandBuffer, 1);
+        
+        if (status == I2C_STATUS_OK) {
+          _majorVer= _inputBuf[1]/10;	
+          _minorVer= _inputBuf[1]%10;
+          _patchVer= _inputBuf[2];				
+          DIAG(F("EX-SensorCAM device found, I2C:%s, Version v%d.%d.%d"),
+                       _I2CAddress.toString(),_majorVer, _minorVer,_patchVer);
+        }  	
+      }
+      if (status != I2C_STATUS_OK)
+        reportError(status);
+    } 
+}
+//*************************
+// Digital input pin configuration, used to enable on EX-IOExpander device and set pullups if requested.
+// Configuration isn't done frequently so we can use blocking I2C calls here, and so buffers can
+// be allocated from the stack to reduce RAM allocation.
+bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override { 
+  (void)configType; (void)params; // unused
+  if(_verPrint) DIAG(F("_configure() driver IO_EXSensorCAM v0.%d.%d vpin: %d "), driverVer/100,driverVer%100,vpin);
+  _verPrint=false;           //only give driver versions once
+  if (paramCount != 1) return false;
+  return true; //at least confirm that CAM is (always) configured (no vpin check!)
+}
+//*************************															 
+// Analogue input pin configuration, used to enable an EX-IOExpander device.
+int _configureAnalogIn(VPIN vpin) override { 
+  DIAG(F("_configureAnalogIn() IO_EXSensorCAM vpin %d"),vpin); 
+  return true;     // NOTE: use of EXRAIL IFGTE() etc use "analog" reads.
+}
+//*************************
+// Main loop, collect both digital and "analog" pin states continuously (faster sensor/input reads)
+void _loop(unsigned long currentMicros) override {
+    if (_deviceState == DEVSTATE_FAILED) return;    
+      // Request block is used for "analogue" (cmd. data) and digital reads from the sensorCAM, which 
+      // are performed on a cyclic basis.  Writes are performed synchronously as and when requested.
+    if (_readState != RDS_IDLE) {                  //expecting a return packet
+      if (_i2crb.isBusy()) return;                 // If I2C operation still in progress, return
+      uint8_t status = _i2crb.status;
+      if (status == I2C_STATUS_OK) {               // If device request ok, read input data
+        //apparently the above checks do not guarantee a good packet! error rate about 1 pkt per 1000
+        //there should be a packet in _CAMresponseBuff[32]            
+        if ((_CAMresponseBuff[0] & 0x60) >= 0x60) {   //Buff[0] seems to have ascii cmd header (bit6 high) (o06)    
+            int error = processIncomingPkt( _CAMresponseBuff, _CAMresponseBuff[0]);   // '~' 'i' 'm' 'n' 't' etc
+              if (error>0) DIAG(F("CAM packet header(0x%x) not recognised"),_CAMresponseBuff[0]);                   
+        }else{ // Header not valid - typically replaced by bank 0 data!  To avoid any bad responses set S06 to 0  
+               // Versions of sensorCAM.h after v300 should return header for '@' of '`'(0x60) (not 0xE6)  
+               // followed by digitalInputStates sensor state array
+        }
+      }else   reportError(status, false);   // report i2c eror but don't go offline.
+      _readState = RDS_IDLE;
+    }      
+  
+    // If we're not doing anything now, check to see if a new state table transfer, or for 't' repeat, is due.
+    if (_readState == RDS_IDLE) {    //check if time for digitalRefresh   
+      if ( currentMicros - _lastDigitalRead > _digitalRefresh) { 
+        // Issue new read request for digital states.  
+             
+        _readCommandBuffer[0] = '@';  //start new read of digitalInputStates Table     // non-blocking read 
+        I2CManager.read(_I2CAddress,_CAMresponseBuff, 32,_readCommandBuffer, 1, &_i2crb);     
+        _lastDigitalRead = currentMicros;
+        _readState = RDS_DIGITAL;
+        
+      }else{    //slip in a repeat <NT n> if pending
+        if (currentMicros - _lasttStateRead > _tStateRefresh)  // Delay for "analog" command repetitions
+         if (_savedCmd[2]>1) {   //repeat a 't' command         
+          for (int i=0;i<7;i++)  _readCommandBuffer[i] =_savedCmd[i];
+          int errors = ioESP32(_I2CAddress, _CAMresponseBuff, 32, _readCommandBuffer, 7);    
+          _lasttStateRead = currentMicros;
+          _savedCmd[2] -= 1;     //decrement repeats                  
+          if (errors==0) return;
+          DIAG(F("ioESP32 error %d header 0x%x"),errors,_CAMresponseBuff[0]);  
+          _readState = RDS_TSTATE;  //this should stop further cmd requests until packet read (or timeout)
+        }
+      }   //end repeat 't'
+    }
+  }   
+//*************************
+// Obtain the bank of 8 sensors as an "analog" value
+// can be used to track the position through a sequential sensor bank
+int _readAnalogue(VPIN vpin) override {
+  if (_deviceState == DEVSTATE_FAILED) return 0;        
+  return _digitalInputStates[(vpin - _firstVpin) / 8];
+}
+//*************************
+// Obtain the correct digital sensor input value
+int _read(VPIN vpin) override {
+  if (_deviceState == DEVSTATE_FAILED) return 0;
+  int pin = vpin - _firstVpin;
+  return bitRead(_digitalInputStates[pin / 8], pin % 8);
+}
+//*************************
+// Write digital value.  
+void _write(VPIN vpin, int value) override { 
+  DIAG(F("**_write() vpin %d = %d"),vpin,value);
+  return ;
+}
+//*************************
+// i2cAddr of ESP32 CAM
+// rBuf   buffer for return packet 
+// inbytes number of bytes to request from CAM
+// outBuff holds outbytes to be sent to CAM  
+int ioESP32(uint8_t i2cAddr,uint8_t *rBuf,int inbytes,uint8_t *outBuff,int outbytes) {
+  uint8_t status = _i2crb.status;
+
+ while( _i2crb.status != I2C_STATUS_OK){status = _i2crb.status;}   //wait until bus free
+
+  status = I2CManager.read(i2cAddr, rBuf, inbytes, outBuff, outbytes);
+        
+  if (status != I2C_STATUS_OK){ 
+    DIAG(F("EX-SensorCAM I2C:%s Error:%d %S"), _I2CAddress.toString(), status, I2CManager.getErrorMessage(status));
+    reportError(status); return status;
+  }
+  return 0;  // 0 for no error != 0 for error number.
+}
+//*************************
+//function to interpret packet from sensorCAM.ino
+//i2cAddr to identify CAM# (if # >1)
+//rBuf contains packet of up to 32 bytes usually with (ascii) cmd header in rBuf[0]
+//sensorCmd command header byte from CAM (in rBuf[0]?)
+int processIncomingPkt(uint8_t *rBuf,uint8_t sensorCmd) {
+//static uint8_t oldb0;   //for debug only
+  int k; 
+  int b;
+  char str[] = "11111111";
+ // if (sensorCmd <= '~') DIAG(F("processIncomingPkt %c %d %d %d"),rBuf[0],rBuf[1],rBuf[2],rBuf[3]);
+  switch (sensorCmd){
+    case '`':      //response to request for digitalInputStates[] table  '@'=>'`'  
+      memcpy(_digitalInputStates, rBuf+1, digitalBytesNeeded);
+//      if ( _digitalInputStates[0]!=oldb0) { oldb0=_digitalInputStates[0];  //debug
+//        for (k=0;k<5;k++) {Serial.print(" ");Serial.print(_digitalInputStates[k],HEX);}
+//      }
+      break;                                                 
+
+    case EXIORDY:  //some commands give back acknowledgement only
+      break;
+
+    case CAMERR:   //cmd format error code from CAM
+      DIAG(F("CAM cmd error 0xFE 0x%x"),rBuf[1]); 
+      break;
+
+    case '~':      //information from '^' version request <N v[er]>
+      DIAG(F("EX-SensorCAM device found, I2C:%s,CAM Version v%d.%d.%d vpins %u-%u"),
+              _I2CAddress.toString(), rBuf[1]/10, rBuf[1]%10, rBuf[2],(int) _firstVpin, (int) _firstVpin +_nPins-1);
+      DIAG(F("IO_EXSensorCAM driver  v0.%d.%d vpin: %d "), driverVer/100,driverVer%100,_firstVpin);
+      break;
+ 
+    case 'f':
+      DIAG(F("(f %%%%) frame header 'f' for bsNo %d/%d - showing Quarter sample (1 row) only"), rBuf[1]/8,rBuf[1]%8);  
+      SEND(&USB_SERIAL,F("<n  row: %d  Ref bytes: "),rBuf[2]);
+      for(k=3;k<15;k++)
+        SEND(&USB_SERIAL,F("%x%x%s"), rBuf[k]>>4, rBuf[k]&15, k%3==2 ? "  " : " "); 
+      Serial.print(" latest grab: "); 
+      for(k=16;k<28;k++)
+        SEND(&USB_SERIAL,F("%x%x%s"), rBuf[k]>>4, rBuf[k]&15, (k%3==0) ? "  " : " ");
+      Serial.print(" n>\n");
+      break; 
+
+    case 'i':      //information from i%%
+      k=256*rBuf[5]+rBuf[4];
+      DIAG(F("(i%%%%[,$$]) Info: Sensor 0%o(%d) enabled:%d status:%d row=%d x=%d Twin=0%o pvtThreshold=%d A~%d")
+              ,rBuf[1],rBuf[1],rBuf[3],rBuf[2],rBuf[6],k,rBuf[7],rBuf[9],int(rBuf[8])*16);	 
+      break;
+
+    case 'm':
+      DIAG(F("(m$[,##]) Min/max: $ frames min2flip (trip) %d, maxSensors 0%o, minSensors 0%o, nLED %d,"
+              " threshold %d, TWOIMAGE_MAXBS 0%o"),rBuf[1],rBuf[3],rBuf[2],rBuf[4],rBuf[5],rBuf[6]);
+      break;
+
+    case 'n':
+      DIAG(F("(n$[,##]) Nominate: $ nLED %d, ## minSensors 0%o (maxSensors 0%o threshold %d)")
+                                       ,rBuf[4],rBuf[2],rBuf[3],rBuf[5]);                                                               
+      break;
+
+    case 'p':
+      b=rBuf[1]-2;  
+      if(b<4) { Serial.print("<n (p%%) Bank empty  n>\n"); break; }
+      SEND(&USB_SERIAL,F("<n (p%%) Bank: %d "),(0x7F&rBuf[2])/8);
+      for (int j=2; j<b; j+=3)  
+        SEND(&USB_SERIAL,F(" S[%d%d]: r=%d x=%d"),0x7F&rBuf[j]/8,0x7F&rBuf[j]%8,rBuf[j+1],rBuf[j+2]+2*(rBuf[j]&0x80));
+      Serial.print("  n>\n");
+      break;
+
+    case 'q':
+      for (int i =0; i<8; i++) str[i] = ((rBuf[2] << i) & 0x80 ? '1' : '0');
+      DIAG(F("(q $) Query bank %c ENABLED sensors(S%c7-%c0): %s "), rBuf[1], rBuf[1], rBuf[1], str);
+      break;
+
+    case 't':      //threshold etc. from t##           //bad pkt if 't' FF's
+      if(rBuf[1]==0xFF) {Serial.println("<n bad CAM 't' packet: 74 FF  n>");_savedCmd[2] +=1; return 0;}
+      SEND(&USB_SERIAL,F("<n (t[##[,%%%%]]) Threshold:%d sensor S00:-%d"),rBuf[1],min(rBuf[2]&0x7F,99));
+      if(rBuf[2]>127) Serial.print("##* "); 
+      else{ 
+        if(rBuf[2]>rBuf[1]) Serial.print("-?* "); 
+        else Serial.print("--* ");
+      }
+      for(int i=3;i<31;i+=2){
+        uint8_t valu=rBuf[i];        //get bsn
+        if(valu==80) break;          //80 = end flag
+        else{ 
+          SEND(&USB_SERIAL,F("%d%d:"), (valu&0x7F)/8,(valu&0x7F)%8);
+          if(valu>=128) Serial.print("?-"); 
+          else {if(rBuf[i+1]>=128) Serial.print("oo");else Serial.print("--");}
+          valu=rBuf[i+1]; 
+          SEND(&USB_SERIAL,F("%d%s"),min(valu&0x7F,99),(valu<128) ? "--* ":"##* ");
+        }
+      } 
+      Serial.print(" >\n");
+      break;
+
+    default:        //header not a recognised cmd character
+      DIAG(F("CAM packet header not valid (0x%x) (0x%x) (0x%x)"),rBuf[0],rBuf[1],rBuf[2]);
+      return 1;
+  }			 
+  return 0;  
+}
+//*************************											  
+// Write (analogue) 8bit (command) values.  Write the parameters to the sensorCAM
+void _writeAnalogue(VPIN vpin, int param1, uint8_t camop, uint16_t param3) override {
+    uint8_t outputBuffer[7];
+    int errors=0;
+    outputBuffer[0] = camop;  
+    int pin = vpin - _firstVpin;
+
+    if(camop >= 0x80) {   //case "a" (4p) also (3p) e.g. <N 713 210 310> 
+      camop=param1;        //put row (0-236) in expected place 
+      param1=param3;        //put column in expected place
+      outputBuffer[0] = 'A';
+      pin = (pin/8)*10 + pin%8;   //restore bsNo. as integer
+    }   
+    if (_deviceState == DEVSTATE_FAILED) return;
+   
+    outputBuffer[1] = pin;          //vpin => bsn
+    outputBuffer[2] = param1 & 0xFF;
+    outputBuffer[3] = param1 >> 8;
+    outputBuffer[4] = camop;        //command code
+    outputBuffer[5] = param3 & 0xFF;
+    outputBuffer[6] = param3 >> 8;
+
+    int count=param1+1;
+    if(camop=='Q'){
+      if(param3<=10) {count=param3; camop='B';}
+      //if(param1<10) outputBuffer[2] = param1*10;
+    }
+    if(camop=='B'){   //then 'b'(b%) cmd - can totally deal with that here. (but can't do b%,# (brightSF))
+      if(param1>97) return;
+      if(param1>9) param1 = param1/10;  //accept a bsNo
+      for(int bnk=param1;bnk<count;bnk++) {
+        uint8_t b=_digitalInputStates[bnk];
+        char str[] = "11111111";
+        for (int i=0;i<8;i++) if(((b<<i)&0x80) == 0) str[i]='0';
+        DIAG(F("(b $) Bank: %d activated byte: 0x%x%x (sensors S%d7->%d0) %s"), bnk,b>>4,b&15,bnk,bnk,str ); 
+      }
+      return;
+    } 
+    if (outputBuffer[4]=='T') {   //then 't' cmd
+      if(param1<31) {   //repeated calls if param < 31
+          //for (int i=0;i<7;i++) _savedCmd[i]=outputBuffer[i];
+        memcpy( _savedCmd, outputBuffer, 7);
+      }else _savedCmd[2] = 0;   //no repeats if ##>30 
+    }else _savedCmd[2] = 0;       //no repeats unless 't'
+  
+    _lasttStateRead = micros();    //don't repeat until _tStateRefresh mSec
+
+    errors = ioESP32(_I2CAddress, _CAMresponseBuff, 32 , outputBuffer, 7);  //send to esp32-CAM
+    if (errors==0) return;
+    else {    //       if (_CAMresponseBuff[0] != EXIORDY)   //can't be sure what is inBuff[0] !
+      DIAG(F("ioESP32 i2c error %d header 0x%x"),errors,_CAMresponseBuff[0]);  
+    }
+}
+//*************************
+ // Display device information and status.
+  void _display() override {
+    DIAG(F("EX-SensorCAM I2C:%s v%d.%d.%d Vpins %u-%u %S"),
+              _I2CAddress.toString(), _majorVer, _minorVer, _patchVer,
+              (int)_firstVpin, (int)_firstVpin+_nPins-1,
+              _deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F(""));
+  }
+//*************************
+// Helper function for error handling
+void reportError(uint8_t status, bool fail=true) {
+  DIAG(F("EX-SensorCAM I2C:%s Error:%d (%S)"), _I2CAddress.toString(), 
+        status, I2CManager.getErrorMessage(status));
+  if (fail)  _deviceState = DEVSTATE_FAILED;
+}
+//************************* 
+  uint8_t _numDigitalPins = 80;   
+  size_t  digitalBytesNeeded=10;
+  uint8_t _CAMresponseBuff[34];
+  
+  uint8_t _majorVer = 0;
+  uint8_t _minorVer = 0;
+  uint8_t _patchVer = 0;
+
+  uint8_t _digitalInputStates[10];
+  I2CRB _i2crb;
+  uint8_t _inputBuf[12];
+  byte _outputBuffer[8];
+
+  bool    _verPrint=true;
+
+  uint8_t _readCommandBuffer[8];
+  uint8_t _savedCmd[8];           //for repeat 't' command
+  //uint8_t _digitalPinBytes = 10;  // Size of allocated memory buffer (may be longer than needed)
+
+  enum {RDS_IDLE, RDS_DIGITAL, RDS_TSTATE};  // Read operation states
+  uint8_t _readState = RDS_IDLE;
+  //uint8_t cmdBuffer[7]={0,0,0,0,0,0,0};
+  unsigned long _lastDigitalRead = 0;
+  unsigned long _lasttStateRead = 0;
+  unsigned long _digitalRefresh = DIGITALREFRESH;  // Delay refreshing digital inputs for 10ms
+  const unsigned long _tStateRefresh = 120000UL;   // Delay refreshing repeat "tState" inputs
+
+  enum {
+    EXIOINIT = 0xE0,    // Flag to initialise setup procedure
+    EXIORDY = 0xE1,     // Flag we have completed setup procedure, also for EX-IO to ACK setup
+    CAMERR = 0xFE
+  };
+};
+#endif
--- a/IO_EncoderThrottle.cpp
+++ b/IO_EncoderThrottle.cpp
@@ -141,4 +141,3 @@ const byte _DIR_MASK = 0x30;
  void EncoderThrottle::_display() {
    DIAG(F("DRIVE vpin %d loco %d notch %d"),_firstVpin,_locoid,_notch);
  }
-
--- a/IO_ExampleSerial.h
+++ b/IO_ExampleSerial.h
@@ -162,4 +162,4 @@ protected:

 };

-#endif // IO_EXAMPLESERIAL_H
+#endif // IO_EXAMPLESERIAL_H
--- a/IO_HALDisplay.h
+++ b/IO_HALDisplay.h
@@ -262,4 +262,4 @@ public:

 };

-#endif // IO_HALDisplay_H
+#endif // IO_HALDisplay_H
--- a/IO_MCP23008.h
+++ b/IO_MCP23008.h
@@ -98,4 +98,4 @@ private:

 };

-#endif
+#endif
--- a/IO_MCP23017.h
+++ b/IO_MCP23017.h
@@ -108,4 +108,4 @@ private:

 };

-#endif
+#endif
--- a/IO_NeoPixel.h
+++ b/IO_NeoPixel.h
@@ -129,7 +129,7 @@ class NeoPixel : public IODevice {
 public:
  
  static void create(VPIN vpin, int nPins, uint16_t mode=(NEO_GRB | NEO_KHZ800), I2CAddress i2cAddress=0x60) {
-    if (checkNoOverlap(vpin, nPins, mode, i2cAddress)) new NeoPixel(vpin, nPins, mode, i2cAddress);
+    if (checkNoOverlap(vpin, nPins, i2cAddress)) new NeoPixel(vpin, nPins, mode, i2cAddress);
  }

 private:
@@ -206,6 +206,7 @@ private:
  
 // loop called by HAL supervisor 
  void _loop(unsigned long currentMicros) override {
+    (void)currentMicros;
    if (!_showPendimg) return;
    byte showBuffer[]={SEESAW_NEOPIXEL_BASE,SEESAW_NEOPIXEL_SHOW};
    I2CManager.write(_I2CAddress,showBuffer,sizeof(showBuffer));
@@ -291,7 +292,7 @@ private:
  }

  
-  void transmit(uint16_t pixel, bool show=true) { 
+  void transmit(uint16_t pixel) { 
    byte buffer[]={SEESAW_NEOPIXEL_BASE,SEESAW_NEOPIXEL_BUF,0x00,0x00,0x00,0x00,0x00};
    uint16_t offset= pixel * _bytesPerPixel;
    buffer[2]=(byte)(offset>>8);
--- a/IO_PCA9685pwm.h
+++ b/IO_PCA9685pwm.h
@@ -167,4 +167,4 @@ private:

 };

-#endif
+#endif
--- a/IO_PCF8574.h
+++ b/IO_PCF8574.h
@@ -101,4 +101,4 @@ private:
  uint8_t inputBuffer[1];
 };

-#endif
+#endif
--- a/IO_PCF8575.h
+++ b/IO_PCF8575.h
@@ -106,4 +106,4 @@ private:
  uint8_t inputBuffer[2];
 };

-#endif
+#endif
--- a/IO_Servo.cpp
+++ b/IO_Servo.cpp
@@ -30,4 +30,3 @@
 //
 const uint8_t FLASH Servo::_bounceProfile[30] = 
    {0,2,3,7,13,33,50,83,100,83,75,70,65,60,60,65,74,84,100,83,75,70,70,72,75,80,87,92,97,100};
-
--- a/IO_Servo.h
+++ b/IO_Servo.h
@@ -295,4 +295,4 @@ private:
  }
 };

-#endif
+#endif
--- a/IO_TCA8418.h
+++ b/IO_TCA8418.h
@@ -1,5 +1,5 @@
 /*
- *  © 2023, Paul M. Antoine
+ *  © 2023-2024, Paul M. Antoine
 *  © 2021, Neil McKechnie. All rights reserved.
 *  
 *  This file is part of DCC-EX API
@@ -21,164 +21,351 @@
 #ifndef io_tca8418_h
 #define io_tca8418_h

-#include "IO_GPIOBase.h"
+#include "IODevice.h"
+#include "I2CManager.h"
+#include "DIAG.h"
 #include "FSH.h"

 /////////////////////////////////////////////////////////////////////////////////////////////////////
 /*
- * IODevice subclass for TCA8418 80-key keypad encoder, which we'll treat as 64 of the possible
- * 80 inputs for now, in an 8x8 matrix only, although the datasheet says:
+ * IODevice subclass for TCA8418 80-key keypad encoder, which we'll treat as 80 available VPINs where
+ * key down == 1 and key up == 0 by configuring just as an 8x10 keyboard matrix. Users can opt to use
+ * up to all 80 of the available VPINs for now, allowing memory to be saved if not all events are required.
+ * 
+ * The datasheet says:
 * 
 * The TCA8418 can be configured to support many different configurations of keypad setups.
 * All 18 GPIOs for the rows and columns can be used to support up to 80 keys in an 8x10 key pad
 * array. Another option is that all 18 GPIOs be used for GPIs to read 18 buttons which are
 * not connected in an array. Any combination in between is also acceptable (for example, a
 * 3x4 keypad matrix and using the remaining 11 GPIOs as a combination of inputs and outputs).
+ * 
+ * With an 8x10 key event matrix, the events are numbered as such:
+ * 
+ *     C0  C1  C2  C3  C4  C5  C6  C7  C8  C9
+ *    ========================================
+ * R0|  0   1   2   3   4   5   6   7   8   9
+ * R1| 10  11  12  13  14  15  16  17  18  19
+ * R2| 20  21  22  23  24  25  26  27  28  29
+ * R3| 30  31  32  33  34  35  36  37  38  39
+ * R4| 40  41  42  43  44  45  46  47  48  49
+ * R5| 50  51  52  53  54  55  56  57  58  59
+ * R6| 60  61  62  63  64  65  66  67  68  69
+ * R7| 70  71  72  73  74  75  76  77  78  79
+ * 
+ * So if you start with VPIN 300, R0/C0 will be 300, and R7/C9 will be 379.
+ * 
+ * HAL declaration for myAutomation.h is:
+ * HAL(TCA8418, firstVpin, numPins, I2CAddress, interruptPin)
+ * 
+ * Where numPins can be 1-80, and interruptPin can be any spare Arduino pin.
+ * 
+ * Configure using the following on the main I2C bus:
+ * HAL(TCA8418, 300, 80, 0x34)
+ * 
+ * Use something like this on a multiplexor, and with up to 8 of the 8-way multiplexors you could have 64 different TCA8418 boards:
+ * HAL(TCA8418, 400, 80, {SubBus_1, 0x34})
+ * 
+ * And if needing an Interrupt pin to speed up operations:
+ * HAL(TCA8418, 300, 80, 0x34, D21)
+ * 
+ * Note that using an interrupt pin speeds up button press acquisition considerably (less than a millisecond vs 10-100),
+ * but even with interrupts enabled the code presently checks every 100ms in case the interrupt pin becomes disconnected.
+ * Use any available Arduino pin for interrupt monitoring.
 */
 
-class TCA8418 : public GPIOBase<uint64_t> {
+class TCA8418 : public IODevice {
 public:
-  static void create(VPIN vpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1) {
-    if (checkNoOverlap(vpin, nPins, i2cAddress))
-      // temporarily use the simple 18-pin GPIO mode - we'll switch to 8x8 matrix once this works
-      new TCA8418(vpin, (nPins = (nPins > 18) ? 18 : nPins), i2cAddress, interruptPin);
+
+  static void create(VPIN firstVpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1) {
+    if (checkNoOverlap(firstVpin, nPins, i2cAddress))
+      new TCA8418(firstVpin, (nPins = (nPins > 80) ? 80 : nPins), i2cAddress, interruptPin);
  }

 private:  
+
+  uint8_t* _digitalInputStates = NULL;  // Array of pin states
+  uint8_t _digitalPinBytes = 0;         // Number of bytes in pin state array
+
+  uint8_t _numKeyEvents = 0;            // Number of outsanding key events waiting for us
+
+  unsigned long _lastEventRead = 0;
+  unsigned long _eventRefresh = 10000UL;    // Delay refreshing events for 10ms
+  const unsigned long _eventRefreshSlow = 100000UL;   // Delay refreshing events for 100ms
+  bool _gpioInterruptsEnabled = false;
+
+  uint8_t _inputBuffer[1];
+  uint8_t _commandBuffer[1];
+  I2CRB _i2crb;
+
+  enum {RDS_IDLE, RDS_EVENT, RDS_KEYCODE};  // Read operation states
+  uint8_t _readState = RDS_IDLE;
+
  // Constructor
-  TCA8418(VPIN vpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1) 
-    : GPIOBase<uint64_t>((FSH *)F("TCA8418"), vpin, nPins, i2cAddress, interruptPin) 
-  {
-    uint8_t receiveBuffer[1];
-    uint8_t commandBuffer[1];
-    uint8_t status;
-
-    commandBuffer[0] = REG_INT_STAT;  // Check interrupt status
-    status = I2CManager.read(_I2CAddress, receiveBuffer, sizeof(receiveBuffer), commandBuffer, sizeof(commandBuffer));
-    if (status == I2C_STATUS_OK) {
-      DIAG(F("TCA8418 Interrupt status was: %x"), receiveBuffer[0]);
+  TCA8418(VPIN firstVpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1) {
+    if (nPins > 0)
+    {
+      _firstVpin = firstVpin;
+      _nPins = nPins;
+      _I2CAddress = i2cAddress;
+      _gpioInterruptPin = interruptPin;
+      addDevice(this);
    }
-    else
-      DIAG(F("TCA8418 Interrupt status failed to read!"));
-    // requestBlock.setRequestParams(_I2CAddress, inputBuffer, sizeof(inputBuffer),
-    //   outputBuffer, sizeof(outputBuffer));
-    // outputBuffer[0] = REG_GPIOA;
-  }
-  void _writeGpioPort() override {
-    // I2CManager.write(_I2CAddress, 3, REG_GPIOA, _portOutputState, _portOutputState>>8);
-  }
-  void _writePullups() override {
-    // Set pullups only for in-use pins.  This prevents pullup being set for a pin that
-    //  is intended for use as an output but hasn't been written to yet.
-    uint32_t temp = _portPullup & _portInUse;
-    (void)temp; // Chris did this so he could see warnings that mattered
-    // I2CManager.write(_I2CAddress, 3, REG_GPPUA, temp, temp>>8);  
-  }
-  void _writePortModes() override {
-    // Write 0 to each GPIO_DIRn for in-use pins that are inputs, 1 for outputs
-    uint64_t temp = _portMode & _portInUse;
-    DIAG(F("TCA8418 writing Port Mode: %x, to GPIO_DIRs"), temp);
-    DIAG(F("TCA8418 writing Port Mode: %x, to GPIO_DIR1"), (temp&0xFF));
-    I2CManager.write(_I2CAddress, 2, REG_GPIO_DIR1, (temp&0xFF));
-    DIAG(F("TCA8418 writing Port Mode: %x, to GPIO_DIR2"), ((temp&0xFF00)>>8));
-    I2CManager.write(_I2CAddress, 2, REG_GPIO_DIR2, ((temp&0xFF00)>>8));
-    DIAG(F("TCA8418 writing Port Mode: %x, to GPIO_DIR3"), (temp&0x30000)>>16);
-    I2CManager.write(_I2CAddress, 2, REG_GPIO_DIR3, ((temp&0x30000)>>16));
-
-    // Enable interrupt for in-use pins which are inputs (_portMode=0)
-    // TCA8418 has interrupt enables per pin, but must be configured for low->high
-    // or high->low... unlike the MCP23017
-    temp = ~_portMode & _portInUse;
-    DIAG(F("TCA8418 writing interrupt Port Mode: %x, to GPIO_INT_ENs"), temp);
-    DIAG(F("TCA8418 writing interrupt Port Mode: %x, to GPIO_INT_EN1"), (temp&0xFF));
-    I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_EN1, (temp&0xFF));
-    DIAG(F("TCA8418 writing interrupt Port Mode: %x, to GPIO_INT_EN2"), ((temp&0xFF00)>>8));
-    I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_EN2, ((temp&0xFF00)>>8));
-    DIAG(F("TCA8418 writing interrupt Port Mode: %x, to GPIO_INT_EN3"), (temp&0x30000)>>16);
-    I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_EN3, ((temp&0x30000)>>16));
-    // I2CManager.write(_I2CAddress, 3, REG_INTCONA, 0x00, 0x00);
-    // I2CManager.write(_I2CAddress, 3, REG_GPINTENA, temp, temp>>8);
-  }
-  void _readGpioPort(bool immediate) override {
-    // if (immediate) {
-    //   uint8_t buffer[2];
-    //   I2CManager.read(_I2CAddress, buffer, 2, 1, REG_GPIOA);
-    //   _portInputState = ((uint16_t)buffer[1]<<8) | buffer[0] | _portMode;
-    // } 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]) | _portMode;
-    // else  
-    //   _portInputState = 0xffff;
  }

-  void _setupDevice() override {
-    DIAG(F("TCA8418 setupDevice() called"));
-    // IOCON is set MIRROR=1, ODR=1 (open drain shared interrupt pin)
-    // I2CManager.write(_I2CAddress, 2, REG_IOCON, 0x44);
-    _writePortModes();
-    _writePullups();
-    _writeGpioPort();
+  void _begin() {
+
+    I2CManager.begin();
+
+    if (I2CManager.exists(_I2CAddress)) {
+      // Default all GPIO pins to INPUT
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_DIR_1, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_DIR_2, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_DIR_3, 0x00);
+
+      // Remove all GPIO pins from events
+      I2CManager.write(_I2CAddress, 2, REG_GPI_EM_1, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_GPI_EM_2, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_GPI_EM_3, 0x00);
+
+      // Set all pins to FALLING interrupts
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_LVL_1, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_LVL_2, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_LVL_3, 0x00);
+
+      // Remove all GPIO pins from interrupts
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_EN_1, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_EN_2, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_GPIO_INT_EN_3, 0x00);
+
+      // Set up an 8 x 10 matrix by writing 0xFF to all the row and column configs
+      // Row config is maximum of 8, and in REG_KP_GPIO_1
+      I2CManager.write(_I2CAddress, 2, REG_KP_GPIO_1, 0xFF);
+      // Column config is maximum of 10, lower 8 bits in REG_KP_GPIO_2, upper in REG_KP_GPIO_3
+      // Set first 8 columns
+      I2CManager.write(_I2CAddress, 2, REG_KP_GPIO_2, 0xFF);
+      // Turn on cols 9/10
+      I2CManager.write(_I2CAddress, 2, REG_KP_GPIO_3, 0x03);
+
+      // // Set all pins to Enable Debounce
+      I2CManager.write(_I2CAddress, 2, REG_DEBOUNCE_DIS_1, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_DEBOUNCE_DIS_2, 0x00);
+      I2CManager.write(_I2CAddress, 2, REG_DEBOUNCE_DIS_3, 0x00);
+
+      // Let's assume an 8x10 matrix for now, and configure 
+      _digitalPinBytes = (_nPins + 7) / 8;
+      if ((_digitalInputStates = (byte *)calloc(_digitalPinBytes, 1)) == NULL) {
+        DIAG(F("TCA8418 I2C: Unable to alloc %d bytes"), _digitalPinBytes);
+        return;
+      }
+
+    // Configure pin used for GPIO extender notification of change (if allocated)
+    // and configure TCA8418 to produce key event interrupts
+    if (_gpioInterruptPin >= 0) {
+      DIAG(F("TCA8418 I2C: interrupt pin configured on %d"), _gpioInterruptPin);
+      _gpioInterruptsEnabled = true;
+      _eventRefresh = _eventRefreshSlow; // Switch to slower manual refreshes in case the INT pin isn't connected!
+      pinMode(_gpioInterruptPin, INPUT_PULLUP);
+      I2CManager.write(_I2CAddress, 2, REG_CFG, REG_CFG_KE_IEN);
+      // Clear any pending interrupts
+      I2CManager.write(_I2CAddress, 2, REG_INT_STAT, REG_STAT_K_INT);
+    }
+
+#ifdef DIAG_IO
+      _display();
+#endif
+    }
  }
- 
-  enum
+
+  int _read(VPIN vpin) override {
+    if (_deviceState == DEVSTATE_FAILED)
+      return 0;
+    int pin = vpin - _firstVpin;
+    bool result = _digitalInputStates[pin / 8] & (1 << (pin % 8));
+    return result;
+  }
+
+
+  // Main loop, collect both digital and analogue pin states continuously (faster sensor/input reads)
+  void _loop(unsigned long currentMicros) override {
+    if (_deviceState == DEVSTATE_FAILED) return;    // If device failed, return
+
+    // Request block is used for key event reads from the TCA8418, which are performed
+    // on a cyclic basis.
+
+    if (_readState != RDS_IDLE) {
+      if (_i2crb.isBusy()) return;                // If I2C operation still in progress, return
+
+      uint8_t status = _i2crb.status;
+      if (status == I2C_STATUS_OK) {             // If device request ok, read input data
+
+        // First check if we have any key events waiting
+        if (_readState == RDS_EVENT) {
+          if ((_numKeyEvents = (_inputBuffer[0] & 0x0F)) != 0) {
+            // We could read each key event waiting in a synchronous loop, which may prove preferable
+            // but for now, schedule an async read of the first key event in the queue
+            _commandBuffer[0] = REG_KEY_EVENT_A;
+            I2CManager.read(_I2CAddress, _inputBuffer, 1, _commandBuffer, 1, &_i2crb);  // non-blocking read
+            _readState = RDS_KEYCODE; // Shift to reading key events!
+          }
+          else // We found no key events waiting, return to IDLE
+            _readState = RDS_IDLE;
+        }
+         else {
+          // RDS_KEYCODE
+          uint8_t key = _inputBuffer[0] & 0x7F;
+          bool keyDown = _inputBuffer[0] & 0x80;
+          // Check for just keypad events
+          key--; // R0/C0 is key #1, so subtract 1 to create an array offset
+          // We only want to record key events we're configured for, as we have calloc'd an
+          // appropriately sized _digitalInputStates array!
+          if (key < _nPins) {
+            if (keyDown)
+              _digitalInputStates[key / 8] |= (1 << (key % 8));
+            else
+              _digitalInputStates[key / 8] &= ~(1 << (key % 8));
+          }
+          else
+            DIAG(F("TCA8418 I2C: key event %d discarded, outside Vpin range"), key);
+          _numKeyEvents--; // One less key event to get
+          if (_numKeyEvents != 0)
+          {
+            // DIAG(F("TCA8418 I2C: more keys in read event queue, # waiting is: %x"), _numKeyEvents);
+            // We could read each key event waiting in a synchronous loop, which may prove preferable
+            // but for now, schedule an async read of the first key event in the queue
+            _commandBuffer[0] = REG_KEY_EVENT_A;
+            I2CManager.read(_I2CAddress, _inputBuffer, 1, _commandBuffer, 1, &_i2crb); // non-blocking read
+          }
+          else {
+            // DIAG(F("TCA8418 I2C: no more keys in read event queue"));
+            // Clear any pending interrupts
+            I2CManager.write(_I2CAddress, 2, REG_INT_STAT, REG_STAT_K_INT);
+            _readState = RDS_IDLE; // Shift to IDLE
+            return;
+          }
+         }
+      } else
+        reportError(status, false);   // report eror but don't go offline.
+    }
+
+    // If we're not doing anything now, check to see if we have an interrupt pin configured and it is low,
+    // or if our timer has elapsed and we should check anyway in case the interrupt pin is disconnected.
+    if (_readState == RDS_IDLE) {
+      if ((_gpioInterruptsEnabled && !digitalRead(_gpioInterruptPin)) ||
+        ((currentMicros - _lastEventRead) > _eventRefresh))
+      {
+        _commandBuffer[0] = REG_KEY_LCK_EC;
+        I2CManager.read(_I2CAddress, _inputBuffer, 1, _commandBuffer, 1, &_i2crb);  // non-blocking read
+        _lastEventRead = currentMicros;
+        _readState = RDS_EVENT; // Shift to looking for key events!
+      }
+    }
+  }
+
+  // Display device information and status
+  void _display() override {
+    DIAG(F("TCA8418 I2C:%s Vpins %u-%u%S"),
+              _I2CAddress.toString(),
+              _firstVpin, (_firstVpin+_nPins-1),
+              _deviceState == DEVSTATE_FAILED ? F(" OFFLINE") : F(""));
+    if (_gpioInterruptsEnabled)
+      DIAG(F("TCA8418 I2C:Interrupt on pin %d"), _gpioInterruptPin);
+  }
+
+  // Helper function for error handling
+  void reportError(uint8_t status, bool fail=true) {
+    DIAG(F("TCA8418 I2C:%s Error:%d (%S)"), _I2CAddress.toString(), 
+      status, I2CManager.getErrorMessage(status));
+    if (fail)
+    _deviceState = DEVSTATE_FAILED;
+  }
+
+  enum tca8418_registers
  {
-    REG_FIRST_RESERVED = 0x00,
-    REG_CFG = 0x01,
-    REG_INT_STAT = 0x02,
-    REG_KEY_LCK_EC = 0x03,
-    REG_KEY_EVENT_A = 0x04,
-    REG_KEY_EVENT_B = 0x05,
-    REG_KEY_EVENT_C = 0x06,
-    REG_KEY_EVENT_D = 0x07,
-    REG_KEY_EVENT_E = 0x08,
-    REG_KEY_EVENT_F = 0x09,
-    REG_KEY_EVENT_G = 0x0A,
-    REG_KEY_EVENT_H = 0x0B,
-    REG_KEY_EVENT_I = 0x0C,
-    REG_KEY_EVENT_J = 0x0D,
-    REG_KP_LCK_TIMER = 0x0E,
-    REG_UNLOCK1 = 0x0F,
-    REG_UNLOCK2 = 0x10,
-    REG_GPIO_INT_STAT1 = 0x11,
-    REG_GPIO_INT_STAT2 = 0x12,
-    REG_GPIO_INT_STAT3 = 0x13,
-    REG_GPIO_DAT_STAT1 = 0x14,
-    REG_GPIO_DAT_STAT2 = 0x15,
-    REG_GPIO_DAT_STAT3 = 0x16,
-    REG_GPIO_DAT_OUT1 = 0x17,
-    REG_GPIO_DAT_OUT2 = 0x18,
-    REG_GPIO_DAT_OUT3 = 0x19,
-    REG_GPIO_INT_EN1 = 0x1A,
-    REG_GPIO_INT_EN2 = 0x1B,
-    REG_GPIO_INT_EN3 = 0x1C,
-    REG_KP_GPIO1 = 0x1D,
-    REG_KP_GPIO2 = 0x1E,
-    REG_KP_GPIO3 = 0x1F,
-    REG_GPI_EM1 = 0x20,
-    REG_GPI_EM2 = 0x21,
-    REG_GPI_EM3 = 0x22,
-    REG_GPIO_DIR1 = 0x23,
-    REG_GPIO_DIR2 = 0x24,
-    REG_GPIO_DIR3 = 0x25,
-    REG_GPIO_INT_LVL1 = 0x26,
-    REG_GPIO_INT_LVL2 = 0x27,
-    REG_GPIO_INT_LVL3 = 0x28,
-    REG_DEBOUNCE_DIS1 = 0x29,
-    REG_DEBOUNCE_DIS2 = 0x2A,
-    REG_DEBOUNCE_DIS3 = 0x2B,
-    REG_GPIO_PULL1 = 0x2C,
-    REG_GPIO_PULL2 = 0x2D,
-    REG_GPIO_PULL3 = 0x2E,
-    REG_LAST_RESERVED = 0x2F,
+    // REG_RESERVED = 0x00
+    REG_CFG = 0x01,             // Configuration register
+    REG_INT_STAT = 0x02,        // Interrupt status
+    REG_KEY_LCK_EC = 0x03,      // Key lock and event counter
+    REG_KEY_EVENT_A = 0x04,     // Key event register A
+    REG_KEY_EVENT_B = 0x05,     // Key event register B
+    REG_KEY_EVENT_C = 0x06,     // Key event register C
+    REG_KEY_EVENT_D = 0x07,     // Key event register D
+    REG_KEY_EVENT_E = 0x08,     // Key event register E
+    REG_KEY_EVENT_F = 0x09,     // Key event register F
+    REG_KEY_EVENT_G = 0x0A,     // Key event register G
+    REG_KEY_EVENT_H = 0x0B,     // Key event register H
+    REG_KEY_EVENT_I = 0x0C,     // Key event register I
+    REG_KEY_EVENT_J = 0x0D,     // Key event register J
+    REG_KP_LCK_TIMER = 0x0E,    // Keypad lock1 to lock2 timer
+    REG_UNLOCK_1 = 0x0F,        // Unlock register 1
+    REG_UNLOCK_2 = 0x10,        // Unlock register 2
+    REG_GPIO_INT_STAT_1 = 0x11, // GPIO interrupt status 1
+    REG_GPIO_INT_STAT_2 = 0x12, // GPIO interrupt status 2
+    REG_GPIO_INT_STAT_3 = 0x13, // GPIO interrupt status 3
+    REG_GPIO_DAT_STAT_1 = 0x14, // GPIO data status 1
+    REG_GPIO_DAT_STAT_2 = 0x15, // GPIO data status 2
+    REG_GPIO_DAT_STAT_3 = 0x16, // GPIO data status 3
+    REG_GPIO_DAT_OUT_1 = 0x17,  // GPIO data out 1
+    REG_GPIO_DAT_OUT_2 = 0x18,  // GPIO data out 2
+    REG_GPIO_DAT_OUT_3 = 0x19,  // GPIO data out 3
+    REG_GPIO_INT_EN_1 = 0x1A,   // GPIO interrupt enable 1
+    REG_GPIO_INT_EN_2 = 0x1B,   // GPIO interrupt enable 2
+    REG_GPIO_INT_EN_3 = 0x1C,   // GPIO interrupt enable 3
+    REG_KP_GPIO_1 = 0x1D,       // Keypad/GPIO select 1
+    REG_KP_GPIO_2 = 0x1E,       // Keypad/GPIO select 2
+    REG_KP_GPIO_3 = 0x1F,       // Keypad/GPIO select 3
+    REG_GPI_EM_1 = 0x20,        // GPI event mode 1
+    REG_GPI_EM_2 = 0x21,        // GPI event mode 2
+    REG_GPI_EM_3 = 0x22,        // GPI event mode 3
+    REG_GPIO_DIR_1 = 0x23,      // GPIO data direction 1
+    REG_GPIO_DIR_2 = 0x24,      // GPIO data direction 2
+    REG_GPIO_DIR_3 = 0x25,      // GPIO data direction 3
+    REG_GPIO_INT_LVL_1 = 0x26,  // GPIO edge/level detect 1
+    REG_GPIO_INT_LVL_2 = 0x27,  // GPIO edge/level detect 2
+    REG_GPIO_INT_LVL_3 = 0x28,  // GPIO edge/level detect 3
+    REG_DEBOUNCE_DIS_1 = 0x29,  // Debounce disable 1
+    REG_DEBOUNCE_DIS_2 = 0x2A,  // Debounce disable 2
+    REG_DEBOUNCE_DIS_3 = 0x2B,  // Debounce disable 3
+    REG_GPIO_PULL_1 = 0x2C,     // GPIO pull-up disable 1
+    REG_GPIO_PULL_2 = 0x2D,     // GPIO pull-up disable 2
+    REG_GPIO_PULL_3 = 0x2E,     // GPIO pull-up disable 3
+    // REG_RESERVED = 0x2F
+  };
+
+  enum tca8418_config_reg_fields
+  {
+    //  Config Register #1 fields
+    REG_CFG_AI = 0x80,           // Auto-increment for read/write
+    REG_CFG_GPI_E_CGF = 0x40,    // Event mode config
+    REG_CFG_OVR_FLOW_M = 0x20,   // Overflow mode enable
+    REG_CFG_INT_CFG = 0x10,      // Interrupt config
+    REG_CFG_OVR_FLOW_IEN = 0x08, // Overflow interrupt enable
+    REG_CFG_K_LCK_IEN = 0x04,    // Keypad lock interrupt enable
+    REG_CFG_GPI_IEN = 0x02,      // GPI interrupt enable
+    REG_CFG_KE_IEN = 0x01,       // Key events interrupt enable
+  };
+
+  enum tca8418_int_status_fields
+  {
+    //  Interrupt Status Register #2 fields
+    REG_STAT_CAD_INT = 0x10,      // Ctrl-alt-del seq status
+    REG_STAT_OVR_FLOW_INT = 0x08, // Overflow interrupt status
+    REG_STAT_K_LCK_INT = 0x04,    // Key lock interrupt status
+    REG_STAT_GPI_INT = 0x02,      // GPI interrupt status
+    REG_STAT_K_INT = 0x01,        // Key events interrupt status
+  };
+
+  enum tca8418_lock_ec_fields
+  {
+    // Key Lock Event Count Register #3
+    REG_LCK_EC_K_LCK_EN = 0x40, // Key lock enable
+    REG_LCK_EC_LCK_2 = 0x20,    // Keypad lock status 2
+    REG_LCK_EC_LCK_1 = 0x10,    // Keypad lock status 1
+    REG_LCK_EC_KLEC_3 = 0x08,   // Key event count bit 3
+    REG_LCK_EC_KLEC_2 = 0x04,   // Key event count bit 2
+    REG_LCK_EC_KLEC_1 = 0x02,   // Key event count bit 1
+    REG_LCK_EC_KLEC_0 = 0x01,   // Key event count bit 0
  };
 };

-#endif
+#endif
--- a/IO_TM1638.cpp
+++ b/IO_TM1638.cpp
@@ -213,5 +213,3 @@ void TM1638::test(){
  }

 }
-
-
--- a/IO_TouchKeypad.h
+++ b/IO_TouchKeypad.h
@@ -131,4 +131,4 @@ protected:

 };

-#endif // IO_TOUCHKEYPAD_H
+#endif // IO_TOUCHKEYPAD_H
--- a/IO_duinoNodes.h
+++ b/IO_duinoNodes.h
@@ -170,4 +170,4 @@ public:
  }

 };
-#endif
+#endif
--- a/IO_trainbrains.h
+++ b/IO_trainbrains.h
@@ -95,4 +95,4 @@ private:
  
 };

-#endif
+#endif
--- a/KeywordHasher.h
+++ b/KeywordHasher.h
@@ -93,4 +93,4 @@ constexpr uint32_t operator""_s7(const char * keyword, size_t len)
 {
    return  CompiletimeSeg7(keyword,0*len,4);
 }
-#endif
+#endif
--- a/LiquidCrystal_I2C.cpp
+++ b/LiquidCrystal_I2C.cpp
@@ -221,4 +221,4 @@ void LiquidCrystal_I2C::expanderWrite(uint8_t value) {
  rb.wait();
  outputBuffer[0] = value | _backlightval;
  I2CManager.write(_Addr, outputBuffer, 1, &rb);  // Write command asynchronously
-}
+}
--- a/MotorDriver.h
+++ b/MotorDriver.h
@@ -28,12 +28,9 @@
 #include "DCCTimer.h"
 #include <wiring_private.h>

+#include "TemplateForEnums.h"
 // use powers of two so we can do logical and/or on the track modes in if clauses.
 // For example TRACK_MODE_DC_INV is (TRACK_MODE_DC|TRACK_MODIFIER_INV)
-template<class T> inline T operator~ (T a) { return (T)~(int)a; }
-template<class T> inline T operator| (T a, T b) { return (T)((int)a | (int)b); }
-template<class T> inline T operator& (T a, T b) { return (T)((int)a & (int)b); }
-template<class T> inline T operator^ (T a, T b) { return (T)((int)a ^ (int)b); }
 enum TRACK_MODE : byte {
  // main modes
  TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
--- a/README.md
+++ b/README.md
@@ -1,77 +1,39 @@
-# What is DCC++ EX?
-DCC++ EX is the organization maintaining several codebases that together represent a fully open source DCC system. Currently, this includes the following:
+# What is DCC-EX?
+DCC-EX is a team of dedicated enthusiasts producing open source DCC & DC solutions for you to run your complete model railroad layout. Our easy to use, do-it-yourself, and free open source products run on off-the-shelf Arduino technology and are supported by numerous third party hardware and apps like JMRI, Engine Driver, wiThrottle, Rocrail and more. 

-* [CommandStation-EX](https://github.com/DCC-EX/CommandStation-EX/releases) - the latest take on the DCC++ command station for controlling your trains. Runs on an Arduino board, and includes advanced features such as a WiThrottle server implementation, turnout operation, general purpose inputs and outputs (I/O), and JMRI integration.
-* [exWebThrottle](https://github.com/DCC-EX/exWebThrottle) - a simple web based controller for your DCC++ command station.
-* [BaseStation-installer](https://github.com/DCC-EX/BaseStation-Installer) - an installer executable that takes care of downloading and installing DCC++ firmware onto your hardware setup.
-* [BaseStation-Classic](https://github.com/DCC-EX/BaseStation-Classic) - the original DCC++ software, packaged in a stable release. No active development, bug fixes only.
+Currently, our products include the following:

-A basic DCC++ EX hardware setup can use easy to find, widely avalable Arduino boards that you can assemble yourself.
-
-Both CommandStation-EX and BaseStation-Classic support much of the NMRA Digital Command Control (DCC) [standards](http://www.nmra.org/dcc-working-group "NMRA DCC Working Group"), including:
-
-* simultaneous control of multiple locomotives
-* 2-byte and 4-byte locomotive addressing
-* 28 or 128-step speed throttling
-* Activate/de-activate all accessory function addresses 0-2048
-* Control of all cab functions F0-F28 and F29-F68
-* Main Track: Write configuration variable bytes and set/clear specific configuration variable (CV) bits (aka Programming on Main or POM)
-* Programming Track: Same as the main track with the addition of reading configuration variable bytes
-* And many more custom features. see [What's new in CommandStation-EX?](#whats-new-in-commandstation-ex)
+* [EX-CommandStation](https://github.com/DCC-EX/CommandStation-EX/releases)
+* [EX-WebThrottle](https://github.com/DCC-EX/exWebThrottle)
+* [EX-Installer](https://github.com/DCC-EX/EX-Installer)
+* [EX-MotoShield8874](https://dcc-ex.com/reference/hardware/motorboards/ex-motor-shield-8874.html#gsc.tab=0)
+* [EX-DCCInspector](https://github.com/DCC-EX/DCCInspector-EX)
+* [EX-Toolbox](https://github.com/DCC-EX/EX-Toolbox)
+* [EX-Turntable](https://github.com/DCC-EX/EX-Turntable)
+* [EX-IOExpander](https://github.com/DCC-EX/EX-IOExpander)
+* [EX-FastClock](https://github.com/DCC-EX/EX-FastClock)
+* [DCCEXProtocol](https://github.com/DCC-EX/DCCEXProtocol)

+Details of these projects can be found on [our web site](https://dcc-ex.com/).

 # What’s in this Repository?

-This repository, CommandStation-EX, contains a complete DCC++ EX Commmand Station sketch designed for compiling and uploading into an Arduino Uno, Mega, or Nano.
+This repository, CommandStation-EX, contains a complete DCC-EX *EX-CommmandStation* sketch designed for compiling and uploading into an Arduino Uno, Mega, or Nano.

 To utilize this sketch, you can use the following: 

-1. (beginner) our [automated installer](https://github.com/DCC-EX/BaseStation-Installer)
+1. (recommended for all levels of user) our [automated installer](https://github.com/DCC-EX/EX-Installer)
 2. (intermediate) download the latest version from the [releases page](https://github.com/DCC-EX/CommandStation-EX/releases)
 3. (advanced) use git clone on this repository 

-Not using the installer? Open the file "CommandStation-EX.ino" in the
-Arduino IDE. Please do not rename the folder containing the sketch
-code, nor add any files in that folder. The Arduino IDE relies on the
-structure and name of the folder to properly display and compile the
-code. Rename or copy config.example.h to config.h. If you do not have 
-the standard setup, you must edit config.h according to the help texts 
-in config.h.
+Refer to [our web site](https://https://dcc-ex.com/ex-commandstation/get-started/index.html#/) for the hardware required for this project.

-## What's new in CommandStation-EX?
+**We seriously recommend using the EX-Installer**, however if you choose not to use the installer... 

-* WiThrottle server built in. Connect Engine Driver or WiThrottle clients directly to your Command Station (or through JMRI as before)
-* WiFi and Ethernet shield support
-* No more jumpers or soldering!
-* Direct support for all the most popular motor control boards including single pin (Arduino) or dual pin (IBT_2) type PWM inputs without the need for an adapter circuit
-* I2C Display support (LCD and OLED)
-* Improved short circuit detection and automatic reset from an overload
-* Current reading, sensing and ACK detection settings in milliAmps instead of just pin readings
-* Improved adherence to the NMRA DCC specification
-* Complete support for all the old commands and front ends like JMRI
-* Railcom cutout (beta)
-* Simpler, modular, faster code with an API Library for developers for easy expansion
-* New features and functions in JMRI
-* Ability to join MAIN and PROG tracks into one MAIN track to run your locos
-* "Drive-Away" feature - Throttles with support, like Engine Driver, can allow a loco to be programmed on a usable, electrically isolated programming track and then drive off onto the main track
-* Diagnostic commands to test decoders that aren't reading or writing correctly
-* Support for Uno, Nano, Mega, Nano Every and Teensy microcontrollers
-* User Functions: Filter regular commands (like a turnout or output command) and pass it to your own function or accessory
-* Support for LCN (layout control nodes)
-* mySetup.h file that acts like an Autoexec.Bat command to send startup commands to the CS
-* High Accuracty Waveform option for rock steady DCC signals
-* New current response outputs current in mA, overlimit current, and maximum board capable current. Support for new current meter in JMRI
-* USB Browser based EX-WebThrottle
-* New, simpler, function control command
-* Number of locos discovery command `<#>`
-* Emergency stop command <!>
-* Release cabs from memory command <-> all cabs, <- CAB> for just one loco address
-* Automatic slot (register) management 
-* Automation (coming soon)
-
-NOTE: DCC-EX is a major rewrite to the code. We started over and rebuilt it from the ground up! For what that means, you can read [HERE](https://dcc-ex.com/about/rewrite.html).
+* Open the file ``CommandStation-EX.ino`` in the Arduino IDE or Visual Studio Code (VSC). Please do not rename the folder containing the sketch code, nor add any files in that folder. The Arduino IDE relies on the structure and name of the folder to properly display and compile the code. 
+* Rename or copy ``config.example.h`` to ``config.h``. 
+* You must edit ``config.h`` according to the help texts in ``config.h``.

 # More information
-You can learn more at the [DCC++ EX website](https://dcc-ex.com/)
+You can learn more at the [DCC-EX website](https://dcc-ex.com/)

- November 14, 2020
--- a/Release_Notes/TCA8418.md
+++ b/Release_Notes/TCA8418.md
@@ -0,0 +1,44 @@
+## TCA8418 ##
+
+The TCA8418 IC from Texas Instruments is a low cost and very capable GPIO and keyboard scanner. Used as a keyboard scanner, it has 8 rows of 10 columns of IO pins which allow encoding of up to 80 buttons. The IC is available on an Adafruit board with Qwiic I2C interconnect called the "Adafruit TCA8418 Keypad Matrix and GPIO Expander Breakout" and available here for the modest sum of $US6 or so: https://www.adafruit.com/product/4918
+
+The great advantage of this IC is that the keyboard scanning is done continuously, and it has a 10-element event queue, so even if you don't get to the interrupt immediately, keypress and release events will be held for you. Since it's I2C its very easy to use with any DCC-EX command station.
+
+The TCA8418 driver presently configures the IC in the full 8x10 keyboard scanning mode, and then maps each key down/key up event to the state of a single vpin for extremely easy use from within EX-RAIL and JMRI as each key looks like an individual sensor.
+
+This is ideal for mimic panels where you may need a lot of buttons, but with this board you can use just 18 wires to handle as many as 80 buttons.
+
+By adding a simple HAL statement to myAutomation.h it creates between 1 and 80 buttons it will report back.
+
+`HAL(TCA8418, firstVpin, numPins, I2CAddress, interruptPin)`
+
+For example:
+
+`HAL(TCA8418, 300, 80, 0x34)`
+
+Creates VPINs 300-379 which you can monitor with EX-RAIL, JMRI sensors etc.
+
+With an 8x10 key event matrix, the events are numbered using the Rn row pins and Cn column pins as such:
+
+     C0  C1  C2  C3  C4  C5  C6  C7  C8  C9
+    ========================================
+ R0|  0   1   2   3   4   5   6   7   8   9
+ R1| 10  11  12  13  14  15  16  17  18  19
+ R2| 20  21  22  23  24  25  26  27  28  29
+ R3| 30  31  32  33  34  35  36  37  38  39
+ R4| 40  41  42  43  44  45  46  47  48  49
+ R5| 50  51  52  53  54  55  56  57  58  59
+ R6| 60  61  62  63  64  65  66  67  68  69
+ R7| 70  71  72  73  74  75  76  77  78  79
+
+So if you start with the first pin definition being VPIN 300, R0/C0 will be 300 + 0, and R7/C9 will be 300+79 or 379.
+
+Use something like this on a multiplexor, and with up to 8 of the 8-way multiplexors you could have 64 different TCA8418 boards:
+
+`HAL(TCA8418, 400, 80, {SubBus_1, 0x34})`
+
+And if needing an Interrupt pin to speed up operations:
+`HAL(TCA8418, 300, 80, 0x34, 21)`
+
+Note that using an interrupt pin speeds up button press acquisition considerably (less than a millisecond vs 10-100), but even with interrupts enabled the code presently checks every 100ms in case the interrupt pin becomes disconnected. Use any available Arduino pin for interrupt monitoring.
+
--- a/SerialManager.cpp
+++ b/SerialManager.cpp
@@ -126,29 +126,33 @@ void SerialManager::loop2() {
        buffer[0] = '\0';
      }
    } else { // if (inCommandPayload)
-      if (bufferLength <  (COMMAND_BUFFER_SIZE-1))
-        buffer[bufferLength++] = ch;
-      if (inCommandPayload > PAYLOAD_NORMAL) {
-        if (inCommandPayload > 32 + 2) {    // String way too long
-          ch = '>';                         // we end this nonsense
-          inCommandPayload = PAYLOAD_NORMAL;
-          DIAG(F("Parse error: Unbalanced string"));
-          // fall through to ending parsing below
-        } else if (ch == '"') {               // String end
-          inCommandPayload = PAYLOAD_NORMAL;
-          continue; // do not fall through
-        } else
-          inCommandPayload++;
-      }
-      if (inCommandPayload == PAYLOAD_NORMAL) {
-        if (ch == '>') {
-          buffer[bufferLength] = '\0';
-          DCCEXParser::parse(serial, buffer, NULL); 
-          inCommandPayload = PAYLOAD_FALSE;
-          break;
-        } else if (ch == '"') {
-          inCommandPayload = PAYLOAD_STRING;
-        }
+      if (bufferLength <  (COMMAND_BUFFER_SIZE-1)) {
+        buffer[bufferLength++] = ch;          // advance bufferLength
+	if (inCommandPayload > PAYLOAD_NORMAL) {
+	  if (inCommandPayload > 32 + 2) {    // String way too long
+	    ch = '>';                         // we end this nonsense
+	    inCommandPayload = PAYLOAD_NORMAL;
+	    DIAG(F("Parse error: Unbalanced string"));
+	    // fall through to ending parsing below
+	  } else if (ch == '"') {               // String end
+	    inCommandPayload = PAYLOAD_NORMAL;
+	    continue; // do not fall through
+	  } else
+	    inCommandPayload++;
+	}
+	if (inCommandPayload == PAYLOAD_NORMAL) {
+	  if (ch == '>') {
+	    buffer[bufferLength] = '\0';               // This \0 is after the '>'
+	    DCCEXParser::parse(serial, buffer, NULL);  // buffer parsed with trailing '>'
+	    inCommandPayload = PAYLOAD_FALSE;
+	    break;
+	  } else if (ch == '"') {
+	    inCommandPayload = PAYLOAD_STRING;
+	  }
+	}
+      } else {
+	DIAG(F("Parse error: input buffer overflow"));
+	inCommandPayload = PAYLOAD_FALSE;
      }
    }
  }
--- a/StringBuffer.cpp
+++ b/StringBuffer.cpp
@@ -41,5 +41,3 @@ size_t StringBuffer::write(uint8_t b) {
  _buffer[_pos_write]='\0';
  return 1;
 }
-
-
--- a/StringBuffer.h
+++ b/StringBuffer.h
@@ -35,4 +35,4 @@ class StringBuffer : public Print {
    char _buffer[buffer_max+2];
 };

-#endif
+#endif
--- a/TemplateForEnums.h
+++ b/TemplateForEnums.h
@@ -0,0 +1,26 @@
+/*
+ *  © 2024, Harald Barth. All rights reserved.
+ *  
+ *  This file is part of DCC-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+#ifndef TemplateForEnums
+#define TemplateForEnums
+template<class T> inline T operator~ (T a) { return (T)~(int)a; }
+template<class T> inline T operator| (T a, T b) { return (T)((int)a | (int)b); }
+template<class T> inline T operator& (T a, T b) { return (T)((int)a & (int)b); }
+template<class T> inline T operator^ (T a, T b) { return (T)((int)a ^ (int)b); }
+#endif
+
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -246,9 +246,6 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 #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 ( (track[t]->getMode() & TRACK_MODE_PROG) && t != trackToSet) {
@@ -261,6 +258,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
    } else {
      track[trackToSet]->makeProgTrack(false); // only the prog track knows it's type
    }
+#endif

    // When a track is switched, we must clear any side effects of its previous 
    // state, otherwise trains run away or just dont move.
@@ -358,11 +356,24 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
        applyDCSpeed(trackToSet);
    }

+#ifdef ARDUINO_ARCH_ESP32
+#ifndef DISABLE_PROG
+    if (tempProgTrack == trackToSet && oldmode & TRACK_MODE_MAIN && !(mode & TRACK_MODE_PROG)) {
+      // If we just take away the prog track, the join should not
+      // be active either. So do in effect an unjoin
+      //DIAG(F("Unsync"));
+      tempProgTrack = MAX_TRACKS+1;
+      progTrackSyncMain=false;
+      if (joinRelay!=UNUSED_PIN) digitalWrite(joinRelay,LOW);
+    }
+#endif
+#endif
    // Turn off power if we changed the mode of this track
-    if (mode != oldmode)
+    if (mode != oldmode) {
      track[trackToSet]->setPower(POWERMODE::OFF);
-    streamTrackState(NULL,trackToSet);
+    }

+    streamTrackState(NULL,trackToSet);
    //DIAG(F("TrackMode=%d"),mode);
    return true; 
 }
@@ -697,4 +708,3 @@ TRACK_MODE TrackManager::getMode(byte t) {
 int16_t TrackManager::returnDCAddr(byte t) {
    return (trackDCAddr[t]);
 }
-
--- a/Turnouts.cpp
+++ b/Turnouts.cpp
@@ -312,12 +312,6 @@
 * 
 *************************************************************************************/

-#if defined(DCC_TURNOUTS_RCN_213)
-  const bool DCCTurnout::rcn213Compliant = true;
-#else
-  const bool DCCTurnout::rcn213Compliant = false;
-#endif
-
  // DCCTurnoutData contains data specific to this subclass that is 
  // written to EEPROM when the turnout is saved.
  struct DCCTurnoutData {
@@ -385,7 +379,10 @@
    // DCC++ Classic behaviour is that Throw writes a 1 in the packet,
    // and Close writes a 0.  
    // RCN-213 specifies that Throw is 0 and Close is 1.
-    DCC::setAccessory(_dccTurnoutData.address, _dccTurnoutData.subAddress, close ^ !rcn213Compliant);
+#ifndef DCC_TURNOUTS_RCN_213
+    close = !close;
+#endif
+    DCC::setAccessory(_dccTurnoutData.address, _dccTurnoutData.subAddress, close);
    return true;
  }

@@ -527,4 +524,3 @@
    StringFormatter::send(stream, F("<H %d LCN %d>\n"), _turnoutData.id, 
    !_turnoutData.closed); 
  }
-
--- a/Turnouts.h
+++ b/Turnouts.h
@@ -245,8 +245,6 @@ public:
  // Load a VPIN turnout definition from EEPROM.  The common Turnout data has already been read at this point.
  static Turnout *load(struct TurnoutData *turnoutData);
  void print(Print *stream) override;
-  // Flag whether DCC Accessory packets are to contain 1=close/0=throw(RCN-213) or 1=throw/0-close (DCC++ Classic)
-  static const bool rcn213Compliant;

 protected:
  bool setClosedInternal(bool close) override;
--- a/config.example.h
+++ b/config.example.h
@@ -1,7 +1,7 @@
 /*
 *  © 2022 Paul M. Antoine
 *  © 2021 Neil McKechnie
- *  © 2020-2023 Harald Barth
+ *  © 2020-2025 Harald Barth
 *  © 2020-2021 Fred Decker
 *  © 2020-2021 Chris Harlow
 *  © 2023 Nathan Kellenicki
@@ -45,15 +45,14 @@ 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. THESE ARE EXAMPLES. FULL LIST IN MotorDrivers.h
+// 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)
-//  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
+//  EXCSB1                : DCC-EX CSB-1 hardware
+//  EXCSB1_WITH_EX8874    : DCC-EX CSB-1 hardware with DCC-EX TI DRV8874 shield
+//  NO_SHIELD             : CS without any motor shield (as an accessory only CS)
 //   |
 //   +-----------------------v
 //
@@ -81,7 +80,7 @@ The configuration file for DCC-EX Command Station

 /////////////////////////////////////////////////////////////////////////////////////
 //
-// NOTE: Only supported on Arduino Mega
+// NOTE: Not supported on Arduino Uno or Nano
 // Set to false if you not even want it on the Arduino Mega
 //
 #define ENABLE_WIFI true
@@ -116,13 +115,13 @@ The configuration file for DCC-EX Command Station
 // Your password may not contain ``"'' (double quote, ASCII 0x22).
 #define WIFI_PASSWORD "Your network passwd"
 //
-// WIFI_HOSTNAME: You probably don't need to change this
+// WIFI_HOSTNAME: You can change this if you have more than one
+// CS to make them show up with different names on the network.
+// Otherwise do not touch.
 #define WIFI_HOSTNAME "dccex"
 //
-// WIFI_CHANNEL: If the line "#define ENABLE_WIFI true" is uncommented, 
-// WiFi will be enabled (Mega only). The default channel is set to "1" whether
-// 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.
+// WIFI_CHANNEL: The default channel is set to "1". 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
@@ -132,8 +131,9 @@ The configuration file for DCC-EX Command Station

 /////////////////////////////////////////////////////////////////////////////////////
 //
-// 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
+// ENABLE_ETHERNET: Set to true if you have an Arduino Ethernet card (wired) based
+// on the W5100/W5500 ethernet chip or an STM32 CS with builin ethernet like the F429ZI.
+// This is not for Wifi. You will then need the Arduino Ethernet library as well.
 //
 //#define ENABLE_ETHERNET true

@@ -270,8 +270,9 @@ The configuration file for DCC-EX Command Station
 // 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
-//
+//#define DCC_ACCESSORY_COMMAND_REVERSE
+
+
 // HANDLING MULTIPLE SERIAL THROTTLES
 // The command station always operates with the default Serial port.
 // Diagnostics are only emitted on the default serial port and not broadcast.
@@ -335,3 +336,17 @@ The configuration file for DCC-EX Command Station
 //#define SABERTOOTH 1

 /////////////////////////////////////////////////////////////////////////////////////
+//
+// SENSORCAM
+// ESP32-CAM based video sensors require #define to use appropriate base vpin number.
+//#define SENSORCAM_VPIN 700
+// To bypass vPin number, define CAM for ex-rail use e.g. AT(CAM 012) for S12 etc.
+//#define CAM SENSORCAM_VPIN+
+//
+//#define SENSORCAM2_VPIN 600   //define other CAM's if installed.
+//#define CAM2 SENSORCAM2_VPIN+ //for EX-RAIL commands e.g. IFLT(CAM2 020,1)
+//
+// For smoother power-up, when using the CAM, you may need a STARTUP_DELAY.
+// That is described further above.
+//
+/////////////////////////////////////////////////////////////////////////////////////
--- a/platformio.ini
+++ b/platformio.ini
@@ -12,18 +12,10 @@
 default_envs = 
 	mega2560
 	uno
-	unowifiR2
 	nano
-	samd21-dev-usb
-	samd21-zero-usb
 	ESP32
 	Nucleo-F411RE
 	Nucleo-F446RE
-	Teensy3_2
-	Teensy3_5
-	Teensy3_6
-	Teensy4_0
-	Teensy4_1
 src_dir = .
 include_dir = .

--- a/version.h
+++ b/version.h
@@ -3,7 +3,23 @@

 #include "StringFormatter.h"

-#define VERSION "5.2.85"
+#define VERSION "5.4.4"
+// 5.4.4  - bugfix in parser, input buffer overrun and trailing > that did break <+>
+// 5.4.3  - bugfix changeFn for functions 29..31
+// 5.4.2  - Reversed turnout bugfix
+// 5.4.1  - ESP32 bugfix packet buffer race
+// 5.4.0  - New version on master
+// 5.2.96 - EXRAIL additions XFWD() and XREV()
+// 5.2.95 - Release candidate for 5.4
+// 5.2.94 - Bugfix: Less confusion and simpler code around the RCN213 defines
+// 5.2.93 - Bugfix ESP32: clear progTrackSyncMain (join flag) when prog track is removed
+// 5.2.92 - Bugfix: FADE power off fix, EXRAIL power diagnostic fix.
+// 5.2.91 - Bugfix: Neopixel I2C overlap check
+// 5.2.90 - Bugfix: EXRAIL EXTT_TURNTABLE() now has description as optional in line with ocumentation (also fixed DCC_TURNTABLE) 
+// 5.2.89 - EXRAIL SET(vpin[,npins]) RESET(vpin,[,npins]) pin range manipulation 
+// 5.2.88 - Fix bug where EX-Turntable objects return incorrect angle for home with <JP x>
+// 5.2.87 - CamParser and IO_EXSensorCam driver
+// 5.2.86 - IO_TCA8418 driver for keypad matrix input now fully functioning, including being able to use an interrupt pin
 // 5.2.85 - IO_TM1638 driver, SEG7 Exrail macro and _s7 segment pattern generator.
 // 5.2.84 - Fix TrackManager setDCCSignal and setPROGSignal for STM32 shadowing of PORTG/PORTH - this time it really is correct!
 // 5.2.83 - Various STM32 related fixes for serial ports, I2C pullups now turned off, and shadowing of PORTG/PORTH for TrackManager now correct
Author	SHA1	Message	Date
Harald Barth	f868604ca9	version 5.4.4	2025-01-31 11:22:55 +01:00
Harald Barth	41168a9dd8	Bugfix: trailing > in command was not replaced with \0 which did break <+> commands	2025-01-31 11:19:22 +01:00
Harald Barth	0154e7fd78	Bugfix: serial COMMAND_BUFFER_SIZE could be silently overrun	2025-01-31 11:17:59 +01:00
Asbelos	9054d8d9f5	Merge branch 'master-fn31'	2025-01-21 09:35:58 +00:00
Harald Barth	865f75dda4	version 5.4.2	2025-01-20 22:41:47 +01:00
Harald Barth	b40fa779a6	revert part of commit 3c725a which did fix bug but reverse direction	2025-01-20 22:40:43 +01:00
Asbelos	2115ada2a1	5.4.2 bugfix fn31 flip	2025-01-20 20:03:21 +00:00
Harald Barth	830de850a9	version 5.4.1	2025-01-17 19:14:32 +01:00
Harald Barth	c28965c58d	ESP32 bugfix packet buffer race	2025-01-17 19:12:11 +01:00
Harald Barth	0476b9c1d8	Merge branch 'master' of https://github.com/DCC-EX/CommandStation-EX	2025-01-10 20:16:37 +01:00
Harald Barth	ba9ca1ccad	sha	2025-01-10 20:15:20 +01:00
Harald Barth	c389fe9d3b	tag	2025-01-09 21:42:01 +01:00
Harald Barth	79c30ec516	For 5.4.0: reduce number of compile targets	2025-01-09 21:35:52 +01:00
Harald Barth	147fe15e04	version 5.2.96	2025-01-09 20:41:46 +01:00
Harald Barth	b5491f9b52	EXRAIL additions XFWD() and XREV()	2025-01-09 20:40:07 +01:00
Harald Barth	6f1c7a9e98	Documentation improvements in config.example.h	2025-01-05 20:18:44 +01:00
Harald Barth	42986c3b2d	5.2.95 release candidate for 5.4	2025-01-02 19:49:22 +01:00
Harald Barth	c1046ddcc0	Merge branch 'master-merge' into devel-merge	2025-01-02 19:10:12 +01:00
Harald Barth	818240b349	version tag	2024-12-28 15:46:32 +01:00
Harald Barth	3c725afab4	Less confusion and simpler code around the RCN213 defines	2024-12-28 15:45:27 +01:00
Harald Barth	13488e1e93	version tag	2024-12-22 23:22:24 +01:00
Harald Barth	6cc3b4c6bf	Merge branch 'devel-esp32-progfix' into devel	2024-12-22 23:14:12 +01:00
Harald Barth	43fe772661	remove diag	2024-12-22 23:13:53 +01:00
Harald Barth	cafd53a0e5	clear progTrackSyncMain (join flag) when prog track is removed 2nd fix	2024-12-22 23:12:45 +01:00
Harald Barth	d4a99b5db5	version 5.2.93	2024-12-22 13:59:21 +01:00
Harald Barth	3ead534c81	Merge branch 'devel-esp32-progfix' into devel	2024-12-22 13:57:28 +01:00
Harald Barth	84bc098157	seperate out the templates that make it possible to use bitwise operations on enums	2024-12-21 16:08:57 +01:00
Harald Barth	8329fd83ce	clear progTrackSyncMain (join flag) when prog track is removed	2024-12-21 15:42:15 +01:00
Harald Barth	4f16091670	take whole if clause out when DISABLE_PROG is active	2024-12-21 15:19:23 +01:00
Asbelos	377f10e1c5	5.2.92	2024-12-19 13:19:34 +00:00
Asbelos	016a20259a	FADE fix and Track id diag.	2024-12-19 12:06:03 +00:00
Asbelos	14724aeb2a	Nweopixel overlap check	2024-11-24 14:47:19 +00:00
pmantoine	8f48e2ed94	Bugfix EXRAIL EXTT_TURNTABLE description now optional	2024-11-11 09:06:56 +08:00
Harald Barth	6710c47f03	Merge branch 'devel' of https://github.com/DCC-EX/CommandStation-EX into devel	2024-11-09 13:02:07 +01:00
Harald Barth	420d14567d	for tag	2024-11-09 13:00:02 +01:00
Asbelos	953b8054f5	5.2.89	2024-11-06 01:11:18 +00:00
Asbelos	8081bfdf1e	warnings cleared	2024-11-06 01:05:35 +00:00
Asbelos	03bd1e897a	SET/RESET range	2024-11-05 12:23:06 +00:00
peteGSX	d8f6d91408	Merge pull request #425 from DCC-EX:fix-ex-tt-home-angle Fix validated	2024-11-04 16:46:27 +10:00
peteGSX	dbb15c6aaa	Fix validated	2024-11-04 16:39:54 +10:00
peteGSX	614802c756	Update angle variable	2024-11-04 08:24:04 +10:00
Asbelos	5efe385f2e	Sensorcam	2024-11-02 13:25:35 +00:00
Asbelos	c50f3e016c	No functional change Unused parameter removal & end of file tidying by the Arduino IDE	2024-10-27 13:53:34 +00:00
pmantoine	535dcabcec	Initial working IO_TCA8418 driver	2024-10-24 13:19:07 +08:00
Harald Barth	ece2ac3ccf	revert last 3 commits	2024-10-06 08:00:07 +02:00
Barry Daniel	ea2e5ab8e9	Delete CamParser.cpp	2024-10-06 15:07:52 +10:00
Barry Daniel	480eb1bfde	Delete myHal.cpp	2024-10-06 15:07:15 +10:00
Barry Daniel	21dca05257	Add files via upload	2024-10-06 14:54:37 +10:00
Harald Barth	4e491a1e56	Typo	2024-06-02 21:17:30 +02:00
Harald Barth	430161ef60	ESP32: Refuse IDF5	2024-06-02 21:14:46 +02:00
Peter Akers	28d60d4984	Update README.md	2024-02-16 18:02:40 +10:00
peteGSX	3b162996ad	EX-IO fixes in version	2024-01-21 07:13:53 +10:00
Harald Barth	fb414a7a50	Bugfix: allocate enough bytes for digital pins. Add more sanity checks when allocating memory	2024-01-20 21:45:09 +01:00
Harald Barth	818e05b425	version 5.0.8	2024-01-10 08:37:54 +01:00
Harald Barth	c5168f030f	Do not crash on turnouts without description	2024-01-10 08:25:34 +01:00
Harald Barth	387ea019bd	version 5.0.7	2023-11-06 22:11:56 +01:00
Harald Barth	a981f83bb9	Only flag 2.2.0.0-dev as broken, not 2.2.0.0	2023-11-06 22:11:31 +01:00
Asbelos	749a859db5	Bugfix TURNOUTL	2023-11-01 20:13:05 +00:00
Harald Barth	659c58b307	version 5.0.5	2023-10-28 19:20:33 +02:00
Harald Barth	0b9ec7460b	Bugfix version detection logic and better message	2023-10-28 19:18:59 +02:00