version tag

Fix validated

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;
+}

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

CommandDistributor.cpp

@@ -377,4 +377,3 @@ void CommandDistributor::setVirtualLCDSerial(Print * stream) {
 Print* CommandDistributor::virtualLCDSerial=&USB_SERIAL;
 byte CommandDistributor::virtualLCDClient=0xFF;
 byte CommandDistributor::rememberVLCDClient=0;
-

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 
 }
-

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
@@ -457,7 +458,7 @@ 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 +877,11 @@ 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 

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.

DCCTimerESP.cpp

@@ -324,4 +324,3 @@ void ADCee::begin() {
 }
 
 #endif //ESP32
-

EXRAIL2.cpp

@@ -312,7 +312,7 @@ 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 +677,14 @@ 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: 
@@ -1327,7 +1328,7 @@ 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);
   }

EXRAIL2MacroReset.h

@@ -219,7 +219,7 @@
 #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 +233,7 @@
 #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 +309,7 @@
 #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 +335,7 @@
 #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) 

EXRAIL2Parser.cpp

@@ -363,4 +363,3 @@ bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
     return false;
   }
 }
-

EXRAILMacros.h

@@ -516,7 +516,7 @@ 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 +607,7 @@ 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 +635,7 @@ 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),

EXRAILSensor.h

@@ -47,4 +47,4 @@ class EXRAILSensor {
   bool onChange;
   byte latchDelay;
 };
-#endif
+#endif

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "devel-heartbeat202410192325ZZ"
+#define GITHUB_SHA "devel-202412222121Z"

I2CManager_NonBlocking.h

@@ -384,4 +384,4 @@ void I2CManagerClass::handleInterrupt() {
   }
 }
 
-#endif
+#endif

I2CManager_Wire.h

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

IODevice.cpp

@@ -627,4 +627,3 @@ bool ArduinoPins::fastReadDigital(uint8_t pin) {
 #endif
   return result;
 }
-

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

IO_AnalogueInputs.h

@@ -166,4 +166,4 @@ private:
   uint8_t _nextState;
 };
 
-#endif // io_analogueinputs_h
+#endif // io_analogueinputs_h

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));
 }
-

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

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);
   }
-

IO_ExampleSerial.h

@@ -162,4 +162,4 @@ protected:
 
 };
 
-#endif // IO_EXAMPLESERIAL_H
+#endif // IO_EXAMPLESERIAL_H

IO_HALDisplay.h

@@ -262,4 +262,4 @@ public:
 
 };
 
-#endif // IO_HALDisplay_H
+#endif // IO_HALDisplay_H

IO_MCP23008.h

@@ -98,4 +98,4 @@ private:
 
 };
 
-#endif
+#endif

IO_MCP23017.h

@@ -108,4 +108,4 @@ private:
 
 };
 
-#endif
+#endif

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);

IO_PCA9685pwm.h

@@ -167,4 +167,4 @@ private:
 
 };
 
-#endif
+#endif

IO_PCF8574.h

@@ -101,4 +101,4 @@ private:
   uint8_t inputBuffer[1];
 };
 
-#endif
+#endif

IO_PCF8575.h

@@ -106,4 +106,4 @@ private:
   uint8_t inputBuffer[2];
 };
 
-#endif
+#endif

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};
-

IO_Servo.h

@@ -295,4 +295,4 @@ private:
   }
 };
 
-#endif
+#endif

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

IO_TM1638.cpp

@@ -213,5 +213,3 @@ void TM1638::test(){
   }
 
 }
-
-

IO_TouchKeypad.h

@@ -131,4 +131,4 @@ protected:
 
 };
 
-#endif // IO_TOUCHKEYPAD_H
+#endif // IO_TOUCHKEYPAD_H

IO_duinoNodes.h

@@ -170,4 +170,4 @@ public:
   }
 
 };
-#endif
+#endif

IO_trainbrains.h

@@ -95,4 +95,4 @@ private:
   
 };
 
-#endif
+#endif

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

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
-}
+}

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,

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.
+

StringBuffer.cpp

@@ -41,5 +41,3 @@ size_t StringBuffer::write(uint8_t b) {
   _buffer[_pos_write]='\0';
   return 1;
 }
-
-

StringBuffer.h

@@ -35,4 +35,4 @@ class StringBuffer : public Print {
     char _buffer[buffer_max+2];
 };
 
-#endif
+#endif

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
+

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]);
 }
-

Turnouts.cpp

@@ -527,4 +527,3 @@
     StringFormatter::send(stream, F("<H %d LCN %d>\n"), _turnoutData.id, 
     !_turnoutData.closed); 
   }
-

WiThrottle.cpp

@@ -1,7 +1,7 @@
 /*
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
- *  © 2020-2024 Harald Barth
+ *  © 2020-2022 Harald Barth
  *  © 2020-2021 M Steve Todd
  *  © 2020-2021 Chris Harlow
  *  All rights reserved.
@@ -97,18 +97,12 @@ WiThrottle::WiThrottle( int wificlientid) {
    nextThrottle=firstThrottle;
    firstThrottle= this;
    clientid=wificlientid;
-#ifdef HEARTBEAT_CRITICAL
-   heartBeatEnable=true;  // do not run without heartbeat
-#else
    heartBeatEnable=false; // until client turns it on
-#endif
    mostRecentCab=0;                
    for (int loco=0;loco<MAX_MY_LOCO; loco++) myLocos[loco].throttle='\0';
 }
 
 WiThrottle::~WiThrottle() {
-  // emergency stop any loco that was controlled from this throttle
-  eStop();
   if (Diag::WITHROTTLE) DIAG(F("Deleting WiThrottle client %d"),this->clientid);
   if (firstThrottle== this) {
     firstThrottle=this->nextThrottle;
@@ -146,12 +140,7 @@ void WiThrottle::parse(RingStream * stream, byte * cmdx) {
     switch (cmd[0]) {
     case '*':  // heartbeat control
       if (cmd[1]=='+') heartBeatEnable=true;
-      else if (cmd[1]=='-') {
-#ifdef HEARTBEAT_CRITICAL
-	eStop();
-#endif
-	heartBeatEnable=false;
-      }
+      else if (cmd[1]=='-') heartBeatEnable=false;
       break;
     case 'P':  
       if (cmd[1]=='P' && cmd[2]=='A' )  {  //PPA power mode 
@@ -314,14 +303,10 @@ void WiThrottle::locoAction(RingStream * stream, byte* aval, char throttleChar,
   switch (aval[0]) {
   case 'V':  // Vspeed
     { 
-      uint8_t dccSpeed = WiTToDCCSpeed(getInt(aval+1));
-#ifdef HEARTBEAT_CRITICAL
-      if (heartBeatEnable == false) // if there is no heartBeat, keep throttle at
-	dccSpeed = 1;               // emegency stop (dccSpeed 1)
-#endif
+      int witSpeed=getInt(aval+1);
       LOOPLOCOS(throttleChar, cab) {
 	mostRecentCab=myLocos[loco].cab;
-	DCC::setThrottle(myLocos[loco].cab, dccSpeed, DCC::getThrottleDirection(myLocos[loco].cab));
+	DCC::setThrottle(myLocos[loco].cab, WiTToDCCSpeed(witSpeed), DCC::getThrottleDirection(myLocos[loco].cab));
 	// SetThrottle will cause speed change broadcast
       }
     } 
@@ -409,28 +394,19 @@ void WiThrottle::loop(RingStream * stream) {
     wt->checkHeartbeat(stream);
 }
 
-void WiThrottle::eStop() {
-  LOOPLOCOS('*', -1) { 
-    if (myLocos[loco].throttle!='\0') {
-      if (Diag::WITHROTTLE) DIAG(F("%l  eStopping cab %d"),millis(),myLocos[loco].cab);
-      DCC::setThrottle(myLocos[loco].cab, 1, DCC::getThrottleDirection(myLocos[loco].cab)); // speed 1 is eStop
-    }
-  }
-}
-
 void WiThrottle::checkHeartbeat(RingStream * stream) {
   // if eStop time passed... eStop any locos still assigned to this client and then drop the connection
   if(heartBeatEnable && (millis()-heartBeat > ESTOP_SECONDS*1000)) {
-    if (Diag::WITHROTTLE)  DIAG(F("%l WiThrottle(%d) eStop(%ds) timeout"), millis(), clientid, ESTOP_SECONDS);
-    if (missedHeartbeatCounter++ > 10) {
-      if (Diag::WITHROTTLE)  DIAG(F("Too many missed heartbeats, drop connection"));
-      delete this;
-      return;
+    if (Diag::WITHROTTLE)  DIAG(F("%l WiThrottle(%d) eStop(%ds) timeout, drop connection"), millis(), clientid, ESTOP_SECONDS);
+    LOOPLOCOS('*', -1) { 
+      if (myLocos[loco].throttle!='\0') {
+        if (Diag::WITHROTTLE) DIAG(F("%l  eStopping cab %d"),millis(),myLocos[loco].cab);
+        DCC::setThrottle(myLocos[loco].cab, 1, DCC::getThrottleDirection(myLocos[loco].cab)); // speed 1 is eStop
+	heartBeat=millis(); // We have just stopped everyting, we don't need to do that again at next loop.
+      }
     }
-    eStop();
-    heartBeat=millis(); // We have just stopped everyting, we don't need to do that again at next loop.
-    // Destructor will take care of estop. If it does come back, the throttle should re-acquire 
-    // delete this;
+    // if it does come back, the throttle should re-acquire 
+    delete this;
     return;
   }
    

WiThrottle.h

@@ -1,7 +1,6 @@
 /*
  *  © 2021 Mike S
  *  © 2020-2021 Chris Harlow
- *  © 2024 Harald Barth
  *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
@@ -21,7 +20,7 @@
  */
 #ifndef WiThrottle_h
 #define WiThrottle_h
-#include "defines.h"
+
 #include "RingStream.h"
 
 struct MYLOCO {
@@ -46,15 +45,9 @@ class WiThrottle {
     ~WiThrottle();
    
       static const int MAX_MY_LOCO=10;      // maximum number of locos assigned to a single client
-#ifdef HEARTBEAT_CRITICAL
-      static const int HEARTBEAT_SECONDS=1;
-      static const int HEARTBEAT_PRELOAD=2;
-      static const int ESTOP_SECONDS=3;
-#else
       static const int HEARTBEAT_SECONDS=10; // heartbeat at 10 secs to provide messaging transport
       static const int HEARTBEAT_PRELOAD=2; // request fast callback when connecting multiple messages
-      static const int ESTOP_SECONDS=20;     // eStop if no incoming messages for more than 20secs
-#endif
+      static const int ESTOP_SECONDS=20;     // eStop if no incoming messages for more than 8secs
       static WiThrottle* firstThrottle;
       static int getInt(byte * cmd);
       static int getLocoId(byte * cmd);
@@ -69,7 +62,6 @@ class WiThrottle {
       MYLOCO myLocos[MAX_MY_LOCO];   
       bool heartBeatEnable;
       unsigned long heartBeat;
-      uint8_t missedHeartbeatCounter = 0;
       bool introSent=false; 
       bool turnoutsSent=false; 
       bool rosterSent=false; 
@@ -83,7 +75,6 @@ class WiThrottle {
       void multithrottle(RingStream * stream, byte * cmd);
       void locoAction(RingStream * stream, byte* aval, char throttleChar, int cab);
       void accessory(RingStream *, byte* cmd);
-      void eStop();
       void checkHeartbeat(RingStream * stream); 
       void markForBroadcast2(int cab);
       void sendIntro(Print * stream);

config.example.h

@@ -333,5 +333,19 @@ The configuration file for DCC-EX Command Station
 // to the sabertooth controller _as_well_. Default: Undefined.
 //
 //#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, define a STARTUP_DELAY to allow CAM to initialise ref images
+//#define STARTUP_DELAY 5000    // up to 20sec. CS delay
+//
 /////////////////////////////////////////////////////////////////////////////////////

version.h

@@ -3,8 +3,15 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "5.2.86"
-// 5.2.86 - add HEARTBEAT_CRITICAL to enforce heartbeat check
+#define VERSION "5.2.93"
+// 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