version entry for 5.5.37

Sniffer feature 2

.github/workflows/docs.yml

@@ -0,0 +1,36 @@
+name: Docs
+
+on:
+  push:
+    branches:
+      - devel
+  pull_request:
+    branches: [ master ]
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4.1.1
+
+      - name: Install Requirements
+        run: |
+          cd docs
+          python -m pip install --upgrade pip
+          pip3 install -r requirements.txt
+          sudo apt-get install doxygen
+
+      - name: Build Prod docs
+        run: |
+          cd docs
+          make html
+          touch _build/html/.nojekyll
+
+      - name: Deploy
+        uses: JamesIves/github-pages-deploy-action@ba1486788b0490a235422264426c45848eac35c6
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          branch: gh-pages  # The branch the action should deploy to.
+          folder: docs/_build/html  # The folder the action should deploy.

.gitignore

@@ -15,3 +15,6 @@ my*.h
 compile_commands.json
 newcode.txt.old
 UserAddin.txt
+_build
+venv
+.DS_Store

CamParser.cpp

@@ -0,0 +1,141 @@
+/*
+ *  © 2023-2025, Barry Daniel  
+ *  © 2025       Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+//sensorCAM parser.cpp version 3.06  Jan 2025
+#include "DCCEXParser.h"
+#include "CamParser.h"
+#include "FSH.h"
+
+const int16_t ver=30177;
+const int16_t ve =2899;
+
+
+// The CAMVPINS array will be filled by IO_EXSensorCam HAL drivers calling
+// the CamParser::addVpin() function.
+// The CAMBaseVpin is the one to be used when commands are given without a vpin. 
+VPIN CamParser::CAMBaseVpin = 0; // no vpins yet known 
+VPIN CamParser::CAMVPINS[] = {0,0,0,0};  // determines max # CAM's
+int CamParser::vpcount=sizeof(CAMVPINS)/sizeof(CAMVPINS[0]);
+
+void CamParser::parse(Print * stream, byte & opcode, byte & paramCount, int16_t p[]) {
+  if (opcode!='N') return; // this is not for us. 
+  if (parseN(stream,paramCount,p)) opcode=0; // we have consumed this
+  // If we fail, the caller will <X> the <N command. 
+}
+     
+bool CamParser::parseN(Print * stream, byte paramCount, int16_t p[]) {
+  (void)stream;  // probably unused parameter   
+  if (CAMBaseVpin==0) CAMBaseVpin=CAMVPINS[0];  // default to CAM 1.
+  VPIN vpin=CAMBaseVpin;   //use current CAM selection
+
+  if (paramCount==0) { 
+    DIAG(F("Cam base vpin:%d"),CAMBaseVpin);
+    for (auto i=0;i<vpcount;i++){
+       if (CAMVPINS[i]==0) break;
+       DIAG(F("EXSensorCam #%d vpin %d"),i+1,CAMVPINS[i]);
+    }
+    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) CAMBaseVpin=p[1];
+    if(p[1]<=vpcount && p[1]>0)    CAMBaseVpin=CAMVPINS[p[1]-1];
+    DIAG(F("CAM base Vpin: %c %d "),p[0],CAMBaseVpin);
+    return true;
+  }
+  if (camop<100) {               //switch CAM# if p[1] dictates
+    if(p[1]>=100 && p[1]<=(vpcount*100+99)) {  //limits to CAM# 1 to 4 for now
+      vpin=CAMVPINS[p[1]/100-1];
+      CAMBaseVpin=vpin;     
+      DIAG(F("switching to CAM %d baseVpin:%d"),p[1]/100,vpin); 
+      p[1]=p[1]%100;             //strip off CAM #
+    } 
+  }
+  if (CAMBaseVpin==0) {DIAG(F("<n Error: Invalid CAM selected, default to CAM1>"));
+    return false; // cam not defined
+  }	
+ 
+      // send UPPER case to sensorCAM to flag binary data from a DCCEX-CS parser  
+  switch(paramCount) {    
+    case 1:                          //<N ver> produces '^'
+      if((camop == 'V') || (p[0] == ve) || (p[0] == ver) ) 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("ABFHILMNOPQRSTUV"),camop)==nullptr) return false;
+      param1=p[1];
+      break;
+    
+    case 3:              //<N vpin rowY colx > or <N cmd p1 p2>
+      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; 
+	  camop=p[0];
+      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;
+}
+
+void CamParser::addVpin(VPIN pin) {
+  // called by IO_EXSensorCam starting up a camera on a vpin
+  byte slot=255;
+  for (auto i=0;i<vpcount && slot==255;i++) {
+    if (CAMVPINS[i]==0) {
+      slot=i;
+      CAMVPINS[slot]=pin;
+    }
+  }
+  if (slot==255) {
+    DIAG(F("No more than %d cameras supported"),vpcount);
+    return;
+  }
+  if (slot==0) CAMBaseVpin=pin;
+  DIAG(F("CamParser Registered cam #%dvpin %d"),slot+1,pin);
+  // tell the DCCEXParser that we wish to filter commands
+  DCCEXParser::setCamParserFilter(&parse);
+}

CamParser.h

@@ -0,0 +1,40 @@
+/*
+ *  © 2023-2025, Barry Daniel  
+ *  © 2025       Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+
+#ifndef CamParser_H
+#define CamParser_H
+#include <Arduino.h>
+#include "IODevice.h"
+
+class CamParser {
+   public:
+   static void parse(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
+   static void addVpin(VPIN pin);
+   private:
+    static bool parseN(Print * stream, byte paramCount, int16_t p[]);
+    static VPIN CAMBaseVpin;
+    static VPIN CAMVPINS[];
+    static int vpcount;
+};
+
+
+#endif

CommandDistributor.cpp

@@ -1,6 +1,6 @@
 /*
  *  © 2022 Harald Barth
- *  © 2020-2021 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  © 2020 Gregor Baues
  *  © 2022 Colin Murdoch
  *  All rights reserved.
@@ -31,6 +31,7 @@
 #include "DCC.h"
 #include "TrackManager.h"
 #include "StringFormatter.h"
+#include "Websockets.h"
 
 // variables to hold clock time
 int16_t lastclocktime;
@@ -44,6 +45,7 @@ template<typename... Targs> void CommandDistributor::broadcastReply(clientType t
   broadcastBufferWriter->flush();
   StringFormatter::send(broadcastBufferWriter, msg...);
   broadcastToClients(type);
+  if (type==COMMAND_TYPE) broadcastToClients(WEBSOCKET_TYPE);
 }
 #else
 // on a single USB connection config, write direct to Serial and ignore flush/shove
@@ -56,14 +58,17 @@ template<typename... Targs> void CommandDistributor::broadcastReply(clientType t
 #ifdef CD_HANDLE_RING
   // wifi or ethernet ring streams with multiple client types
   RingStream *  CommandDistributor::ring=0;
-  CommandDistributor::clientType  CommandDistributor::clients[8]={
-    NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE,NONE_TYPE};
+CommandDistributor::clientType  CommandDistributor::clients[MAX_NUM_TCP_CLIENTS]={ NONE_TYPE }; // 0 is and must be NONE_TYPE
 
 // Parse is called by Withrottle or Ethernet interface to determine which
 // protocol the client is using and call the appropriate part of dcc++Ex
 void  CommandDistributor::parse(byte clientId,byte * buffer, RingStream * stream) {
-  if (Diag::WIFI && Diag::CMD)
-    DIAG(F("Parse C=%d T=%d B=%s"),clientId, clients[clientId], buffer);
+  if (clientId>=sizeof (clients)) {
+    // Caution, diag dump of buffer could corrupt ringstream
+    // if headed by websocket bytes. 
+    DIAG(F("::parse invalid client=%d"),clientId);
+    return;
+  }
   ring=stream;
 
   // First check if the client is not known
@@ -72,22 +77,40 @@ void  CommandDistributor::parse(byte clientId,byte * buffer, RingStream * stream
   // client is using the DCC++ protocol where all commands start
   // with '<'
   if (clients[clientId] == NONE_TYPE) {
+    auto websock=Websockets::checkConnectionString(clientId,buffer,stream);
+    if (websock) {
+      clients[clientId]=WEBSOCK_CONNECTING_TYPE;
+      // websockets will have replied already 
+      return;
+    }
     if (buffer[0] == '<')
       clients[clientId]=COMMAND_TYPE;
     else
       clients[clientId]=WITHROTTLE_TYPE;
   }
 
+  // after first inbound transmission the websocket is connected
+  if (clients[clientId]==WEBSOCK_CONNECTING_TYPE)
+      clients[clientId]=WEBSOCKET_TYPE;
+      
+      
   // mark buffer that is sent to parser
-  ring->mark(clientId);
-
   // When type is known, send the string
   // to the right parser
   if (clients[clientId] == COMMAND_TYPE) {
+    ring->mark(clientId);
     DCCEXParser::parse(stream, buffer, ring);
   } else if (clients[clientId] == WITHROTTLE_TYPE) {
+    ring->mark(clientId);
     WiThrottle::getThrottle(clientId)->parse(ring, buffer);
   }
+  else if (clients[clientId] == WEBSOCKET_TYPE) {
+    buffer=Websockets::unmask(clientId,ring, buffer);
+    if (!buffer) return; // unmask may have handled it alrerday (ping/pong)
+    // mark ring with client flagged as websocket for transmission later
+    ring->mark(clientId | Websockets::WEBSOCK_CLIENT_MARKER);
+    DCCEXParser::parse(stream, buffer, ring);
+    }
 
   if (ring->peekTargetMark()!=RingStream::NO_CLIENT) {
     // The commit call will either write the length bytes
@@ -131,7 +154,7 @@ void CommandDistributor::broadcastToClients(clientType type) {
     for (byte clientId=0; clientId<sizeof(clients); clientId++) {
       if (clients[clientId]==type)  {
 	//DIAG(F("CD mark client %d"), clientId);
-	ring->mark(clientId);
+	ring->mark(clientId | (type==WEBSOCKET_TYPE? Websockets::WEBSOCK_CLIENT_MARKER : 0));
 	ring->print(broadcastBufferWriter->getString());
 	//DIAG(F("CD commit client %d"), clientId);
 	ring->commit();
@@ -185,10 +208,15 @@ void CommandDistributor::setClockTime(int16_t clocktime, int8_t clockrate, byte
   {
     case 1:
       if (clocktime != lastclocktime){
+        auto difference = clocktime - lastclocktime;
+        if (difference<0) difference+=1440;
+        DCC::setTime(clocktime,clockrate,difference>2);
         // CAH. DIAG removed because LCD does it anyway. 
         LCD(6,F("Clk Time:%d Sp %d"), clocktime, clockrate);
         // look for an event for this time
+#ifdef EXRAIL_ACTIVE        
         RMFT2::clockEvent(clocktime,1);
+#endif        
         // Now tell everyone else what the time is.
         CommandDistributor::broadcastClockTime(clocktime, clockrate);
         lastclocktime = clocktime;
@@ -207,9 +235,13 @@ int16_t CommandDistributor::retClockTime() {
   return lastclocktime;
 }
 
-void  CommandDistributor::broadcastLoco(byte slot) {
-  DCC::LOCO * sp=&DCC::speedTable[slot];
-  broadcastReply(COMMAND_TYPE, F("<l %d %d %d %l>\n"), sp->loco,slot,sp->speedCode,sp->functions);
+void  CommandDistributor::broadcastLoco(DCC::LOCO*  sp) {
+  if (!sp) {
+    broadcastReply(COMMAND_TYPE,F("<l 0 -1 128 0>\n"));
+    return;
+	}
+  broadcastReply(COMMAND_TYPE, F("<l %d 0 %d %l>\n"), 
+    sp->loco,sp->targetSpeed,sp->functions);
 #ifdef SABERTOOTH
   if (Serial2 && sp->loco == SABERTOOTH) {
     static uint8_t rampingmode = 0;
@@ -280,6 +312,9 @@ void  CommandDistributor::broadcastPower() {
     state = '1';
   }
 
+  if (state != '2')
+    broadcastReply(COMMAND_TYPE, F("<p%c>\n"),state);
+
   // additional info about MAIN, PROG and JOIN
   bool main=TrackManager::getMainPower()==POWERMODE::ON;
   bool prog=TrackManager::getProgPower()==POWERMODE::ON;
@@ -288,7 +323,7 @@ void  CommandDistributor::broadcastPower() {
   const FSH * reason=F("");
   if (join) {
     reason = F(" JOIN"); // with space at start so we can append without space
-    broadcastReply(COMMAND_TYPE, F("<p1 %S>\n"),reason);
+    broadcastReply(COMMAND_TYPE, F("<p1%S>\n"),reason);
   } else {
     if (main) {
       //reason = F("MAIN");
@@ -299,9 +334,6 @@ void  CommandDistributor::broadcastPower() {
       broadcastReply(COMMAND_TYPE, F("<p1 PROG>\n"));
     }
   }
-
-  if (state != '2')
-    broadcastReply(COMMAND_TYPE, F("<p%c>\n"),state);
 #ifdef CD_HANDLE_RING
   // send '1' if all main are on, otherwise global state (which in that case is '0' or '2')
   broadcastReply(WITHROTTLE_TYPE, F("PPA%c\n"), main?'1': state);
@@ -323,11 +355,11 @@ void CommandDistributor::broadcastTrackState(const FSH* format, byte trackLetter
   broadcastReply(COMMAND_TYPE, format, trackLetter, modename, dcAddr);
 }
 
-void  CommandDistributor::broadcastRouteState(uint16_t routeId, byte state ) {
+void  CommandDistributor::broadcastRouteState(int16_t routeId, byte state ) {
   broadcastReply(COMMAND_TYPE, F("<jB %d %d>\n"),routeId,state);
 }
 
-void  CommandDistributor::broadcastRouteCaption(uint16_t routeId, const FSH* caption ) {
+void  CommandDistributor::broadcastRouteCaption(int16_t routeId, const FSH* caption ) {
   broadcastReply(COMMAND_TYPE, F("<jB %d \"%S\">\n"),routeId,caption);
 }
 
@@ -377,4 +409,3 @@ void CommandDistributor::setVirtualLCDSerial(Print * stream) {
 Print* CommandDistributor::virtualLCDSerial=&USB_SERIAL;
 byte CommandDistributor::virtualLCDClient=0xFF;
 byte CommandDistributor::rememberVLCDClient=0;
-

CommandDistributor.h

@@ -1,6 +1,6 @@
 /*
  *  © 2022 Harald Barth
- *  © 2020-2021 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  © 2020 Gregor Baues
  *  © 2022 Colin Murdoch
  * 
@@ -28,6 +28,7 @@
 #include "StringBuffer.h"
 #include "defines.h"
 #include "EXRAIL2.h"
+#include "DCC.h"
 
 #if WIFI_ON | ETHERNET_ON 
   // Command Distributor must handle a RingStream of clients
@@ -36,17 +37,17 @@
 
 class CommandDistributor {
 public:
-  enum clientType: byte {NONE_TYPE,COMMAND_TYPE,WITHROTTLE_TYPE};
+  enum clientType: byte {NONE_TYPE = 0,COMMAND_TYPE,WITHROTTLE_TYPE,WEBSOCK_CONNECTING_TYPE,WEBSOCKET_TYPE}; // independent of other types, NONE_TYPE must be 0
 private:
   static void broadcastToClients(clientType type);
   static StringBuffer * broadcastBufferWriter;
   #ifdef CD_HANDLE_RING
     static RingStream * ring;
-    static clientType clients[8];
+    static clientType clients[MAX_NUM_TCP_CLIENTS];
   #endif
 public :
   static void parse(byte clientId,byte* buffer, RingStream * ring);
-  static void broadcastLoco(byte slot);
+  static void broadcastLoco(DCC::LOCO * slot);
   static void broadcastForgetLoco(int16_t loco);
   static void broadcastSensor(int16_t id, bool value);
   static void broadcastTurnout(int16_t id, bool isClosed);
@@ -59,8 +60,8 @@ public :
   static void broadcastTrackState(const FSH* format,byte trackLetter, const FSH* modename, int16_t dcAddr);
   template<typename... Targs> static void broadcastReply(clientType type, Targs... msg);
   static void forget(byte clientId);
-  static void broadcastRouteState(uint16_t routeId,byte state);
-  static void broadcastRouteCaption(uint16_t routeId,const FSH * caption);
+  static void broadcastRouteState(int16_t routeId,byte state);
+  static void broadcastRouteCaption(int16_t routeId,const FSH * caption);
   static void broadcastMessage(char * message);
   
   // Handling code for virtual LCD receiver.

CommandStation-EX.ino

@@ -31,6 +31,7 @@
  *  © 2020-2021 Chris Harlow, Harald Barth, David Cutting,
  *  Fred Decker, Gregor Baues, Anthony W - Dayton
  *  © 2023 Nathan Kellenicki
+ *  © 2025 Herb Morton
  *  All rights reserved.
  *
  *  This file is part of CommandStation-EX
@@ -51,6 +52,12 @@
 
 #include "DCCEX.h"
 #include "Display_Implementation.h"
+#ifdef ARDUINO_ARCH_ESP32
+#include "Sniffer.h"
+#include "DCCDecoder.h"
+Sniffer *dccSniffer = NULL;
+bool DCCDecoder::active = false;
+#endif // ARDUINO_ARCH_ESP32
 
 #ifdef CPU_TYPE_ERROR
 #error CANNOT COMPILE - DCC++ EX ONLY WORKS WITH THE ARCHITECTURES LISTED IN defines.h
@@ -109,9 +116,10 @@ void setup()
   WifiInterface::setup(WIFI_SERIAL_LINK_SPEED, F(WIFI_SSID), F(WIFI_PASSWORD), F(WIFI_HOSTNAME), IP_PORT, WIFI_CHANNEL, WIFI_FORCE_AP);
 #endif // WIFI_ON
 #else
-  // ESP32 needs wifi on always
-  PASSWDCHECK(WIFI_PASSWORD); // compile time check
+#if WIFI_ON
+  PASSWDCHECK(WIFI_PASSWORD); // compile time check  
   WifiESP::setup(WIFI_SSID, WIFI_PASSWORD, WIFI_HOSTNAME, IP_PORT, WIFI_CHANNEL, WIFI_FORCE_AP);
+#endif // WIFI_ON
 #endif // ARDUINO_ARCH_ESP32
 
 #if ETHERNET_ON
@@ -124,6 +132,11 @@ void setup()
   // Start RMFT aka EX-RAIL (ignored if no automnation)
   RMFT::begin();
 
+#ifdef ARDUINO_ARCH_ESP32
+#ifdef BOOSTER_INPUT
+  dccSniffer = new Sniffer(BOOSTER_INPUT);
+#endif // BOOSTER_INPUT
+#endif // ARDUINO_ARCH_ESP32
 
   // Invoke any DCC++EX commands in the form "SETUP("xxxx");"" found in optional file mySetup.h.
   //  This can be used to create turnouts, outputs, sensors etc. through the normal text commands.
@@ -141,25 +154,28 @@ void setup()
   CommandDistributor::broadcastPower();
 }
 
-/**************** for future reference
-void looptimer(unsigned long timeout, const FSH* message)
-{
-  static unsigned long lasttimestamp = 0;
-  unsigned long now = micros();
-  if (timeout != 0) {
-    unsigned long diff = now - lasttimestamp;
-    if (diff > timeout) {
-      DIAG(message);
-      DIAG(F("DeltaT=%L"), diff);
-      lasttimestamp = micros();
-      return;
-    }
-  }
-  lasttimestamp = now;
-}
-*********************************************/
 void loop()
 {
+#ifdef ARDUINO_ARCH_ESP32
+#ifdef BOOSTER_INPUT
+  static bool oldactive = false;
+  if (dccSniffer) {
+    bool newactive = dccSniffer->inputActive();
+    if (oldactive != newactive) {
+      RMFT2::railsyncEvent(newactive);
+      oldactive = newactive;
+    }
+    DCCPacket p = dccSniffer->fetchPacket();
+    if (p.len() != 0) {
+      if (DCCDecoder::parse(p)) {
+	if (Diag::SNIFFER)
+	  p.print();
+      }
+    }
+  }
+#endif // BOOSTER_INPUT
+#endif // ARDUINO_ARCH_ESP32
+
   // The main sketch has responsibilities during loop()
 
   // Responsibility 1: Handle DCC background processes
@@ -176,9 +192,11 @@ void loop()
  
 #endif //WIFI_ON
 #else  //ARDUINO_ARCH_ESP32
+#if WIFI_ON
 #ifndef WIFI_TASK_ON_CORE0
   WifiESP::loop();
 #endif
+#endif //WIFI_ON
 #endif //ARDUINO_ARCH_ESP32
 #if ETHERNET_ON
   EthernetInterface::loop();

DCC.cpp

@@ -5,7 +5,7 @@
  *  © 2021 Herb Morton
  *  © 2020-2022 Harald Barth
  *  © 2020-2021 M Steve Todd
- *  © 2020-2021 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  All rights reserved.
  *
  *  This file is part of DCC-EX
@@ -37,6 +37,8 @@
 #include "CommandDistributor.h"
 #include "TrackManager.h"
 #include "DCCTimer.h"
+#include "Railcom.h"
+#include "DCCQueue.h"
 
 // This module is responsible for converting API calls into
 // messages to be sent to the waveform generator.
@@ -60,6 +62,8 @@ const byte FN_GROUP_5=0x10;
 FSH* DCC::shieldName=NULL;
 byte DCC::globalSpeedsteps=128;
 
+#define SLOTLOOP for (auto slot=&speedTable[0];slot!=&speedTable[MAX_LOCOS];slot++)
+
 void DCC::begin() {
   StringFormatter::send(&USB_SERIAL,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), shieldName, F(GITHUB_SHA));
 #ifndef DISABLE_EEPROM
@@ -72,13 +76,49 @@ void DCC::begin() {
 #endif
 }
 
+byte DCC::defaultMomentumA=0;
+byte DCC::defaultMomentumD=0;
+bool DCC::linearAcceleration=false; 
+
+byte DCC::getMomentum(LOCO * slot) {
+   auto target=slot->targetSpeed & 0x7f;
+   auto current=slot->speedCode & 0x7f;
+   if (target > current) {
+    // accelerating
+    auto momentum=slot->momentumA==MOMENTUM_USE_DEFAULT ? defaultMomentumA : slot->momentumA;
+    // if nonlinear acceleration, momentum is reduced according to 
+    // gap between throttle and speed.
+    // ie. Loco takes accelerates faster if high throttle
+    if (momentum==0 || linearAcceleration) return momentum;
+    auto powerDifference= (target-current)/8;
+    if (momentum-powerDifference <0) return 0;
+    return momentum-powerDifference; 
+   }
+   return slot->momentumD==MOMENTUM_USE_DEFAULT ? defaultMomentumD : slot->momentumD;
+}
 
 void DCC::setThrottle( uint16_t cab, uint8_t tSpeed, bool tDirection)  {
+  if (tSpeed==1) {
+    if (cab==0) {
+      estopAll(); // ESTOP broadcast fix 
+      return;
+    }
+  } 
   byte speedCode = (tSpeed & 0x7F)  + tDirection * 128;
-  setThrottle2(cab, speedCode);
-  TrackManager::setDCSignal(cab,speedCode); // in case this is a dcc track on this addr
-  // retain speed for loco reminders
-  updateLocoReminder(cab, speedCode );
+  LOCO * slot=lookupSpeedTable(cab);
+  if (slot->targetSpeed==speedCode) return; 
+  slot->targetSpeed=speedCode;
+  byte momentum=getMomentum(slot);
+  if (momentum && tSpeed!=1) { // not ESTOP
+    // we dont throttle speed, we just let the reminders take it to target
+    slot->momentum_base=millis();
+  } 
+  else {  // Momentum not involved, throttle now.
+    slot->speedCode = speedCode;
+    setThrottle2(cab, speedCode);
+    TrackManager::setDCSignal(cab,speedCode); // in case this is a dcc track on this addr
+  }
+  CommandDistributor::broadcastLoco(slot);
 }
 
 void DCC::setThrottle2( uint16_t cab, byte speedCode)  {
@@ -118,11 +158,11 @@ void DCC::setThrottle2( uint16_t cab, byte speedCode)  {
     b[nB++] = speedCode; // for encoding see setThrottle
 
   }
-
-  DCCWaveform::mainTrack.schedulePacket(b, nB, 0);
+  if ((speedCode & 0x7F) == 1) DCCQueue::scheduleEstopPacket(b, nB, 4, cab); // highest priority
+  else DCCQueue::scheduleDCCSpeedPacket( b, nB, 0, cab);
 }
 
-void DCC::setFunctionInternal(int cab, byte byte1, byte byte2, byte count) {
+void DCC::setFunctionInternal(int cab, byte group, byte byte1, byte byte2) {
   // DIAG(F("setFunctionInternal %d %x %x"),cab,byte1,byte2);
   byte b[4];
   byte nB = 0;
@@ -132,25 +172,29 @@ void DCC::setFunctionInternal(int cab, byte byte1, byte byte2, byte count) {
   b[nB++] = lowByte(cab);
   if (byte1!=0) b[nB++] = byte1;
   b[nB++] = byte2;
-
-  DCCWaveform::mainTrack.schedulePacket(b, nB, count);
+  
+  DCCQueue::scheduleDCCFunctionPacket(b, nB, cab,group);
 }
 
 // returns speed steps 0 to 127 (1 == emergency stop)
 // or -1 on "loco not found"
 int8_t DCC::getThrottleSpeed(int cab) {
-  int reg=lookupSpeedTable(cab);
-  if (reg<0) return -1;
-  return speedTable[reg].speedCode & 0x7F;
+  return getThrottleSpeedByte(cab) & 0x7F;
 }
 
 // returns speed code byte
 // or 128 (speed 0, dir forward) on "loco not found".
+// This is the throttle set speed
 uint8_t DCC::getThrottleSpeedByte(int cab) {
-  int reg=lookupSpeedTable(cab);
-  if (reg<0)
-    return 128;
-  return speedTable[reg].speedCode;
+  LOCO * slot=lookupSpeedTable(cab,false);
+  return slot?slot->targetSpeed:128;
+}
+// returns speed code byte for loco. 
+// This is the most recently send DCC speed packet byte
+// or 128 (speed 0, dir forward) on "loco not found".
+uint8_t DCC::getLocoSpeedByte(int cab) {
+  LOCO* slot=lookupSpeedTable(cab,false);
+  return slot?slot->speedCode:128;
 }
 
 // returns 0 to 7 for frequency
@@ -159,12 +203,11 @@ uint8_t DCC::getThrottleFrequency(int cab) {
   (void)cab;
   return 0;
 #else
-  int reg=lookupSpeedTable(cab);
-  if (reg<0)
-    return 0; // use default frequency
+  LOCO* slot=lookupSpeedTable(cab);
+  if (!slot)  return 0; // use default frequency
   // shift out first 29 bits so we have the 3 "frequency bits" left
-  uint8_t res = (uint8_t)(speedTable[reg].functions >>29);
-  //DIAG(F("Speed table %d functions %l shifted %d"), reg, speedTable[reg].functions, res);
+  uint8_t res = (uint8_t)(slot->functions >>29);
+  //DIAG(F("Speed table %d functions %l shifted %d"), reg, slot->functions, res);
   return res;
 #endif
 }
@@ -172,9 +215,7 @@ uint8_t DCC::getThrottleFrequency(int cab) {
 // returns direction on loco
 // or true/forward on "loco not found"
 bool DCC::getThrottleDirection(int cab) {
-  int reg=lookupSpeedTable(cab);
-  if (reg<0) return true;
-  return (speedTable[reg].speedCode & 0x80) !=0;
+  return getThrottleSpeedByte(cab) & 0x80;
 }
 
 // Set function to value on or off
@@ -198,7 +239,7 @@ bool DCC::setFn( int cab, int16_t functionNumber, bool on) {
        b[nB++] = (functionNumber & 0x7F) | (on ? 0x80 : 0);  // low order bits and state flag
        b[nB++] = functionNumber >>7 ;  // high order bits
     }
-    DCCWaveform::mainTrack.schedulePacket(b, nB, 4);
+    DCCQueue::scheduleDCCPacket(b, nB, 4,cab);
   }
   // We use the reminder table up to 28 for normal functions.
   // We use 29 to 31 for DC frequency as well so up to 28
@@ -207,37 +248,30 @@ bool DCC::setFn( int cab, int16_t functionNumber, bool on) {
   if (functionNumber > 31)
     return true;
   
-  int reg = lookupSpeedTable(cab);
-  if (reg<0) return false;
-
+  LOCO * slot = lookupSpeedTable(cab);
+  
   // Take care of functions:
   // Set state of function
-  uint32_t previous=speedTable[reg].functions;
+  uint32_t previous=slot->functions;
   uint32_t funcmask = (1UL<<functionNumber);
   if (on) {
-      speedTable[reg].functions |= funcmask;
+      slot->functions |= funcmask;
   } else {
-      speedTable[reg].functions &= ~funcmask;
+      slot->functions &= ~funcmask;
   }
-  if (speedTable[reg].functions != previous) {
+  if (slot->functions != previous) {
     if (functionNumber <= 28)
-      updateGroupflags(speedTable[reg].groupFlags, functionNumber);
-    CommandDistributor::broadcastLoco(reg);
+      updateGroupflags(slot->groupFlags, functionNumber);
+    CommandDistributor::broadcastLoco(slot);
   }
   return true;
 }
 
 // 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)
@@ -245,12 +279,10 @@ void DCC::changeFn( int cab, int16_t functionNumber) {
 int8_t DCC::getFn( int cab, int16_t functionNumber) {
   if (cab<=0 || functionNumber>31)
     return -1;  // unknown
-  int reg = lookupSpeedTable(cab);
-  if (reg<0)
-    return -1;
-
+  auto slot = lookupSpeedTable(cab);
+  
   unsigned long funcmask = (1UL<<functionNumber);
-  return  (speedTable[reg].functions & funcmask)? 1 : 0;
+  return  (slot->functions & funcmask)? 1 : 0;
 }
 
 // Set the group flag to say we have touched the particular group.
@@ -267,22 +299,22 @@ void DCC::updateGroupflags(byte & flags, int16_t functionNumber) {
 
 uint32_t DCC::getFunctionMap(int cab) {
   if (cab<=0) return 0;  // unknown pretend all functions off
-  int reg = lookupSpeedTable(cab);
-  return (reg<0)?0:speedTable[reg].functions;
+  auto slot = lookupSpeedTable(cab,false);
+  return slot?slot->functions:0;
 }
 
 // saves DC frequency (0..3) in spare functions 29,30,31
 void DCC::setDCFreq(int cab,byte freq) {
   if (cab==0 || freq>3) return;
-  auto reg=lookupSpeedTable(cab,true);
+  auto slot=lookupSpeedTable(cab,true);
   // drop and replace F29,30,31 (top 3 bits) 
-  auto newFunctions=speedTable[reg].functions & 0x1FFFFFFFUL;
+  auto newFunctions=slot->functions & 0x1FFFFFFFUL;
   if (freq==1)      newFunctions |= (1UL<<29); // F29
   else if (freq==2) newFunctions |= (1UL<<30); // F30
   else if (freq==3) newFunctions |= (1UL<<31); // F31
-  if (newFunctions==speedTable[reg].functions) return; // no change 
-  speedTable[reg].functions=newFunctions;
-  CommandDistributor::broadcastLoco(reg);
+  if (newFunctions==slot->functions) return; // no change 
+  slot->functions=newFunctions;
+  CommandDistributor::broadcastLoco(slot);
 }
 
 void DCC::setAccessory(int address, byte port, bool gate, byte onoff /*= 2*/) {
@@ -295,7 +327,7 @@ void DCC::setAccessory(int address, byte port, bool gate, byte onoff /*= 2*/) {
   // the initial decoders were orgnized and that influenced how the DCC
   // standard was made.
   #ifdef DIAG_IO
-  DIAG(F("DCC::setAccessory(%d,%d,%d)"), address, port, gate);
+  DIAG(F("DCC::setAccessory(%d,%d,%d,%d)"), address, port, gate, onoff);
   #endif
   // use masks to detect wrong values and do nothing
   if(address != (address & 511))
@@ -308,16 +340,17 @@ void DCC::setAccessory(int address, byte port, bool gate, byte onoff /*= 2*/) {
   // second byte is of the form 1AAACPPG, where C is 1 for on, PP the ports 0 to 3 and G the gate (coil).
   b[0] = address % 64 + 128;
   b[1] = ((((address / 64) % 8) << 4) + (port % 4 << 1) + gate % 2) ^ 0xF8;
-  if (onoff != 0) {
-    DCCWaveform::mainTrack.schedulePacket(b, 2, 3);      // Repeat on packet three times
-#if defined(EXRAIL_ACTIVE)
-    RMFT2::activateEvent(address<<2|port,gate);
-#endif
-  }
-  if (onoff != 1) {
+  if (onoff==0) {   // off packet only
     b[1] &= ~0x08; // set C to 0
-    DCCWaveform::mainTrack.schedulePacket(b, 2, 3);      // Repeat off packet three times
-  }
+    DCCQueue::scheduleDCCPacket(b, 2, 3);
+  } else if (onoff==1) { // on packet only
+    DCCQueue::scheduleDCCPacket(b, 2, 3);
+  } else { // auto timed on then off  
+    DCCQueue::scheduleAccOnOffPacket(b, 2, 3, 100); // On then off after 100mS
+  } 
+#if defined(EXRAIL_ACTIVE)
+  if (onoff !=0) RMFT2::activateEvent(address<<2|port,gate);
+#endif
 }
 
 bool DCC::setExtendedAccessory(int16_t address, int16_t value, byte repeats) {
@@ -367,7 +400,7 @@ whole range of the 11 bits sent to track.
     | (((~(address>>8)) & 0x07)<<4)  // shift out 8, invert, mask 3 bits, shift up 4
     | ((address & 0x03)<<1);         // mask 2 bits, shift up 1
   b[2]=value;
-  DCCWaveform::mainTrack.schedulePacket(b, sizeof(b), repeats);
+  DCCQueue::scheduleDCCPacket(b, sizeof(b), repeats);
   return true;
 }
 
@@ -386,7 +419,26 @@ void DCC::writeCVByteMain(int cab, int cv, byte bValue)  {
   b[nB++] = cv2(cv);
   b[nB++] = bValue;
 
-  DCCWaveform::mainTrack.schedulePacket(b, nB, 4);
+  DCCQueue::scheduleDCCPacket(b, nB, 4,cab);
+}
+
+//
+// readCVByteMain: Read a byte with PoM on main.
+// This requires Railcom active 
+//
+void DCC::readCVByteMain(int cab, int cv, ACK_CALLBACK callback)  {
+  byte b[5];
+  byte nB = 0;
+  if (cab > HIGHEST_SHORT_ADDR)
+    b[nB++] = highByte(cab) | 0xC0;    // convert train number into a two-byte address
+
+  b[nB++] = lowByte(cab);
+  b[nB++] = cv1(READ_BYTE_MAIN, cv); // any CV>1023 will become modulus(1024) due to bit-mask of 0x03
+  b[nB++] = cv2(cv);
+  b[nB++] = 0;
+
+  DCCQueue::scheduleDCCPacket(b, nB, 4,cab);
+  Railcom::anticipate(cab,cv,callback);
 }
 
 //
@@ -407,7 +459,45 @@ void DCC::writeCVBitMain(int cab, int cv, byte bNum, bool bValue)  {
   b[nB++] = cv2(cv);
   b[nB++] = WRITE_BIT | (bValue ? BIT_ON : BIT_OFF) | bNum;
 
-  DCCWaveform::mainTrack.schedulePacket(b, nB, 4);
+  DCCQueue::scheduleDCCPacket(b, nB, 4,cab);
+}
+
+bool DCC::setTime(uint16_t minutes,uint8_t speed, bool suddenChange) {
+  /* see rcn-122
+  5 Global commands 
+These commands are sent and begin exclusively with a broadcast address 0 
+always with {synchronous bits} 0 0000-0000 … and end with the checksum 
+... PPPPPPPP 1. Therefore, only the bytes of the commands and not that of 
+shown below whole package shown. The commands can be used by vehicle and 
+accessory decoders alike. 
+
+  5.1 Time command 
+This command is four bytes long and has the format: 
+1100-0001 CCxx-xxxx xxxx-xxxxx xxxx-xxxx 
+CC indicates what data is transmitted in the packet: 
+CC = 00 Model Time 
+1100-0001 00MM-MMMM WWWH-HHHH U0BB-BBBB with: 
+MMMMMM = Minutes, Value range: 0..59 
+WWW =     Day of the Week, Value range: 0 = Monday, 1 = Tuesday, 2 = Wednesday, 
+3 = Thursday, 4 = Friday, 5 = Saturday, 6 = Sunday, 7 = Weekday 
+is not supported. 
+HHHHH =   Hours, value range: 0..23 
+U =         
+Update, i.e. the time has changed suddenly, e.g. by a new one timetable to start.        
+Up to 4 can occur per sudden change commands can be marked like this. 
+BBBBBB =    Acceleration factor, value range 0..63. An acceleration factor of 0 means the  
+model clock has been stopped, a factor of 1 corresponds to real time, at 2 the 
+clock runs twice as fast, at three times as fast as real time, etc. 
+*/
+if (minutes>=1440 || speed>63 ) return false; 
+byte b[5];
+b[0]=0; // broadcast address
+b[1]=0b11000001; // 1100-0001 (model time)
+b[2]=minutes % 60 ;  // MM
+b[3]= 0b11100000 | (minutes/60); // 111H-HHHH weekday not supported
+b[4]= (suddenChange ? 0b10000000 : 0) | speed;
+DCCQueue::scheduleDCCPacket(b, sizeof(b), 2);
+return true; 
 }
 
 FSH* DCC::getMotorShieldName() {
@@ -529,6 +619,7 @@ const ackOp FLASH LOCO_ID_PROG[] = {
       V0, WACK, MERGE,
       V0, WACK, MERGE,
       VB, WACK, NAKSKIP, // bad read of cv20, assume its 0 
+      BAD20SKIP,     // detect invalid cv20 value and ignore 
       STASHLOCOID,   // keep cv 20 until we have cv19 as well.
       SETCV, (ackOp)19, 
       STARTMERGE,           // Setup to read cv 19
@@ -634,7 +725,9 @@ const ackOp FLASH CONSIST_ID_PROG[] = {
       BASELINE,
       SETCV,(ackOp)20,
       SETBYTEH,    // high byte to CV 20
-      WB,WACK,     // ignore dedcoder without cv20 support
+      WB,WACK,ITSKIP,
+      FAIL_IF_NONZERO_NAK, // fail if writing long address to decoder that cant support it
+      SKIPTARGET,
       SETCV,(ackOp)19,
       SETBYTEL,   // low byte of word
       WB,WACK,ITC1,   // If ACK, we are done - callback(1) means Ok
@@ -738,10 +831,9 @@ void DCC::setConsistId(int id,bool reverse,ACK_CALLBACK callback) {
 
 void DCC::forgetLoco(int cab) {  // removes any speed reminders for this loco
   setThrottle2(cab,1); // ESTOP this loco if still on track
-  int reg=lookupSpeedTable(cab, false);
-  if (reg>=0) {
-    speedTable[reg].loco=0;
-    setThrottle2(cab,1); // ESTOP if this loco still on track
+  auto slot=lookupSpeedTable(cab, false);
+  if (slot) {
+    slot->loco=-1;  // no longer used but not end of world
     CommandDistributor::broadcastForgetLoco(cab);
   }
 }
@@ -749,7 +841,7 @@ void DCC::forgetAllLocos() {  // removes all speed reminders
   setThrottle2(0,1); // ESTOP all locos still on track
   for (int i=0;i<MAX_LOCOS;i++) {
     if (speedTable[i].loco) CommandDistributor::broadcastForgetLoco(speedTable[i].loco);
-    speedTable[i].loco=0;
+    speedTable[i].loco=0;  // no longer used and looks like end
   }
 }
 
@@ -757,77 +849,136 @@ byte DCC::loopStatus=0;
 
 void DCC::loop()  {
   TrackManager::loop(); // power overload checks
-  issueReminders();
+  if (DCCWaveform::mainTrack.isReminderWindowOpen()) {
+    // Now is a good time to choose a packet to be sent
+    // Either highest priority from the queues or a reminder
+    if (!DCCQueue::scheduleNext(false)) {
+      // none pending, 
+      issueReminders();
+      DCCQueue::scheduleNext(true); // send any pending and force an idle if none 
+    }
+
+  }
 }
 
 void DCC::issueReminders() {
-  // if the main track transmitter still has a pending packet, skip this time around.
-  if (!DCCWaveform::mainTrack.isReminderWindowOpen()) return;
+  while(true) { 
   // Move to next loco slot.  If occupied, send a reminder.
-  int reg = lastLocoReminder+1;
-  if (reg > highestUsedReg) reg = 0;  // Go to start of table
-  if (speedTable[reg].loco > 0) {
-    // have found loco to remind
-    if (issueReminder(reg))
-      lastLocoReminder = reg;
-  } else
-    lastLocoReminder = reg;
+  // slot.loco is -1 for deleted locos, 0 for end of list.
+  for (auto slot=nextLocoReminder;slot->loco;slot++) {
+    if (slot->loco<0) continue; // deleted loco, skip it
+    if (issueReminder(slot)) {
+      nextLocoReminder=slot+1; // remember next one to check
+      return; // reminder sent, exit
+      }
+    }
+    // we have reached the end of the table, so we can move on to 
+    // the next loop state and start from the top.
+    // There are 0-9 loop states..  speed,f1,speed,f2,speed,f3,speed,f4,speed,f5
+    loopStatus++;
+    if (loopStatus>9) loopStatus=0; // reset to 0
+
+    // try looking from the start of the table down to where we started last time
+      
+    for (auto slot=&speedTable[0];slot<nextLocoReminder;slot++) {
+      if (slot->loco<0) continue; // deleted loco, skip it
+      if (issueReminder(slot)) {
+        nextLocoReminder=slot+1; // remember next one to check
+        return; // reminder sent, exit
+        }
+      }
+    // if we get here then we can update the loop status and start again
+    if (loopStatus==0) return; // nothing found at all
+  }
 }
 
-bool DCC::issueReminder(int reg) {
-  unsigned long functions=speedTable[reg].functions;
-  int loco=speedTable[reg].loco;
-  byte flags=speedTable[reg].groupFlags;
+int16_t normalize(byte speed) {
+   if (speed & 0x80) return speed & 0x7F;
+   return 0-1-speed; 
+}
+byte dccalize(int16_t speed) {
+   if (speed>127) return 0xFF;  // 127 forward
+   if (speed<-127) return 0x7F;  // 127 reverse
+   if (speed >=0) return speed | 0x80;
+   // negative speeds... -1==dcc 0, -2==dcc 1 
+   return (int16_t)-1 - speed; 
+}
+
+bool DCC::issueReminder(LOCO * slot) {
+  unsigned long functions=slot->functions;
+  int loco=slot->loco;
+  byte flags=slot->groupFlags;
 
   switch (loopStatus) {
         case 0:
-      //   DIAG(F("Reminder %d speed %d"),loco,speedTable[reg].speedCode);
-         setThrottle2(loco, speedTable[reg].speedCode);
-         break;
+        case 2:
+        case 4:
+        case 6:
+        case 8: {
+         // calculate any momentum change going on
+         auto sc=slot->speedCode;
+         if (slot->targetSpeed!=sc) {
+            // calculate new speed code 
+            auto now=millis();
+            int16_t delay=now-slot->momentum_base;
+            auto millisPerNotch=MOMENTUM_FACTOR * (int16_t)getMomentum(slot);
+            // allow for momentum change to 0 while accelerating/slowing
+            auto ticks=(millisPerNotch>0)?(delay/millisPerNotch):500;
+            if (ticks>0) {
+              auto current=normalize(sc);  // -128..+127
+              auto target=normalize(slot->targetSpeed);
+              // DIAG(F("Momentum l=%d ti=%d sc=%d c=%d t=%d"),loco,ticks,sc,current,target);
+              if (current<target) { // accelerate
+                current+=ticks;
+                if (current>target) current=target;
+              }
+              else  { // slow
+                current-=ticks;
+                if (current<target) current=target;
+              }
+              sc=dccalize(current);
+              //DIAG(F("c=%d newsc=%d"),current,sc);
+              slot->speedCode=sc;
+              TrackManager::setDCSignal(loco,sc); // in case this is a dcc track on this addr
+              slot->momentum_base=now;  
+            }
+          }
+          // DIAG(F("Reminder %d speed %d"),loco,slot->speedCode);
+          setThrottle2(loco, sc);
+        }
+        return true; // reminder sent
        case 1: // remind function group 1 (F0-F4)
-          if (flags & FN_GROUP_1)
-#ifndef DISABLE_FUNCTION_REMINDERS
-	    setFunctionInternal(loco,0, 128 | ((functions>>1)& 0x0F) | ((functions & 0x01)<<4),0); // 100D DDDD
-#else
-	    setFunctionInternal(loco,0, 128 | ((functions>>1)& 0x0F) | ((functions & 0x01)<<4),2);
-          flags&= ~FN_GROUP_1;  // dont send them again
-#endif
+          if (flags & FN_GROUP_1) {
+            setFunctionInternal(loco,1,0, 128 | ((functions>>1)& 0x0F) | ((functions & 0x01)<<4)); // 100D DDDD
+            return true;  // reminder sent
+          }
           break;
-       case 2: // remind function group 2 F5-F8
-          if (flags & FN_GROUP_2)
-#ifndef DISABLE_FUNCTION_REMINDERS
-  	    setFunctionInternal(loco,0, 176 | ((functions>>5)& 0x0F),0);                           // 1011 DDDD
-#else
-	    setFunctionInternal(loco,0, 176 | ((functions>>5)& 0x0F),2);
-          flags&= ~FN_GROUP_2;  // dont send them again
-#endif
+       case 3: // remind function group 2 F5-F8
+          if (flags & FN_GROUP_2) {
+  	        setFunctionInternal(loco,2,0, 176 | ((functions>>5)& 0x0F));      // 1011 DDDD
+            return true;  // reminder sent
+          }
           break;
-       case 3: // remind function group 3 F9-F12
-          if (flags & FN_GROUP_3)
-#ifndef DISABLE_FUNCTION_REMINDERS
-	    setFunctionInternal(loco,0, 160 | ((functions>>9)& 0x0F),0);                           // 1010 DDDD
-#else
-	    setFunctionInternal(loco,0, 160 | ((functions>>9)& 0x0F),2);
-          flags&= ~FN_GROUP_3;  // dont send them again
-#endif
+       case 5: // remind function group 3 F9-F12
+          if (flags & FN_GROUP_3) {
+	          setFunctionInternal(loco,3,0, 160 | ((functions>>9)& 0x0F));    // 1010 DDDD
+            return true;  // reminder sent
+          }
           break;
-       case 4: // remind function group 4 F13-F20
-          if (flags & FN_GROUP_4)
-	    setFunctionInternal(loco,222, ((functions>>13)& 0xFF),2);
-          flags&= ~FN_GROUP_4;  // dont send them again
+       case 7: // remind function group 4 F13-F20
+          if (flags & FN_GROUP_4) {
+	          setFunctionInternal(loco,4,222, ((functions>>13)& 0xFF));
+            return true; 
+          }
           break;
-       case 5: // remind function group 5 F21-F28
-          if (flags & FN_GROUP_5)
-	    setFunctionInternal(loco,223, ((functions>>21)& 0xFF),2);
-          flags&= ~FN_GROUP_5;  // dont send them again
+       case 9: // remind function group 5 F21-F28
+          if (flags & FN_GROUP_5) {
+	          setFunctionInternal(loco,5,223, ((functions>>21)& 0xFF));
+            return true;  // reminder sent
+          }
           break;
       }
-      loopStatus++;
-      // if we reach status 6 then this loco is done so
-      // reset status to 0 for next loco and return true so caller
-      // moves on to next loco.
-      if (loopStatus>5) loopStatus=0;
-      return loopStatus==0;
+      return false; // no reminder sent 
     }
 
 
@@ -844,70 +995,132 @@ byte DCC::cv2(int cv)  {
   return lowByte(cv);
 }
 
-int DCC::lookupSpeedTable(int locoId, bool autoCreate) {
+DCC::LOCO *  DCC::lookupSpeedTable(int locoId, bool autoCreate) {
   // determine speed reg for this loco
-  int firstEmpty = MAX_LOCOS;
-  int reg;
-  for (reg = 0; reg < MAX_LOCOS; reg++) {
-    if (speedTable[reg].loco == locoId) break;
-    if (speedTable[reg].loco == 0 && firstEmpty == MAX_LOCOS) firstEmpty = reg;
+  LOCO * firstEmpty=nullptr;
+  SLOTLOOP {
+    if (firstEmpty==nullptr && slot->loco<=0) firstEmpty=slot;
+    if (slot->loco == locoId) return slot;
+    if (slot->loco==0) break; 
   }
-
-  // return -1 if not found and not auto creating
-  if (reg== MAX_LOCOS && !autoCreate) return -1; 
-  if (reg == MAX_LOCOS) reg = firstEmpty;
-  if (reg >= MAX_LOCOS) {
-    DIAG(F("Too many locos"));
-    return -1;
+  if (!autoCreate) return nullptr;
+  if (firstEmpty==nullptr) { 
+    // return last slot if full
+    DIAG(F("Too many locos, reusing last slot"));
+    firstEmpty=&speedTable[MAX_LOCOS-1];
   }
-  if (reg==firstEmpty){
-        speedTable[reg].loco = locoId;
-        speedTable[reg].speedCode=128;  // default direction forward
-        speedTable[reg].groupFlags=0;
-        speedTable[reg].functions=0;
-  }
-  if (reg > highestUsedReg) highestUsedReg = reg;
-  return reg;
+  // fill first empty slot with new entry
+  firstEmpty->loco = locoId;
+  firstEmpty->speedCode=128;  // default direction forward
+  firstEmpty->targetSpeed=128;  // default direction forward
+  firstEmpty->groupFlags=0;
+  firstEmpty->functions=0;
+  firstEmpty->momentumA=MOMENTUM_USE_DEFAULT; 
+  firstEmpty->momentumD=MOMENTUM_USE_DEFAULT; 
+  return firstEmpty;
 }
 
-void  DCC::updateLocoReminder(int loco, byte speedCode) {
-
-  if (loco==0) {
-     // broadcast stop/estop but dont change direction
-     for (int reg = 0; reg <= highestUsedReg; reg++) {
-       if (speedTable[reg].loco==0) continue;
-       byte newspeed=(speedTable[reg].speedCode & 0x80) |  (speedCode & 0x7f);
-       if (speedTable[reg].speedCode != newspeed) {
-         speedTable[reg].speedCode = newspeed;
-         CommandDistributor::broadcastLoco(reg);
-       }
-     }
-     return;
+bool DCC::setMomentum(int locoId,int16_t accelerating, int16_t decelerating) {
+  if (locoId<0) return false;
+  if (locoId==0) {
+    if (accelerating<0 || decelerating<0) return false;
+    defaultMomentumA=accelerating/MOMENTUM_FACTOR;
+    defaultMomentumD=decelerating/MOMENTUM_FACTOR;
+    return true;
   }
+  // -1 is ok and means this loco should use the default.
+  if (accelerating<-1 || decelerating<-1) return false;
+  if (accelerating/MOMENTUM_FACTOR >= MOMENTUM_USE_DEFAULT || 
+      decelerating/MOMENTUM_FACTOR >= MOMENTUM_USE_DEFAULT) return false;
+  
+  // Values stored are 255=MOMENTUM_USE_DEFAULT, or millis/MOMENTUM_FACTOR.
+  // This is to keep the values in a byte rather than int16
+  // thus saving 2 bytes RAM per loco slot.   
+  LOCO* slot=lookupSpeedTable(locoId,true);
+  slot->momentumA=(accelerating<0)? MOMENTUM_USE_DEFAULT: (accelerating/MOMENTUM_FACTOR);
+  slot->momentumD=(decelerating<0)? MOMENTUM_USE_DEFAULT: (decelerating/MOMENTUM_FACTOR);
+  return true; 
+}
 
-  // determine speed reg for this loco
-  int reg=lookupSpeedTable(loco);
-  if (reg>=0 && speedTable[reg].speedCode!=speedCode) {
-    speedTable[reg].speedCode = speedCode;
-    CommandDistributor::broadcastLoco(reg);
+
+void  DCC::estopAll() {
+  setThrottle2(0,1); // estop all locos
+  TrackManager::setDCSignal(0,1); 
+    
+  // remind stop/estop but dont change direction
+  SLOTLOOP {
+    if (slot->loco<=0) continue;
+    byte newspeed=(slot->targetSpeed & 0x80) |  0x01;
+    slot->speedCode = newspeed;
+    slot->targetSpeed = newspeed;
+    CommandDistributor::broadcastLoco(slot);  
   }
 }
 
+
 DCC::LOCO DCC::speedTable[MAX_LOCOS];
-int DCC::lastLocoReminder = 0;
-int DCC::highestUsedReg = 0;
+DCC::LOCO *  DCC::nextLocoReminder = &DCC::speedTable[0];
 
 
 void DCC::displayCabList(Print * stream) {
-
+    StringFormatter::send(stream,F("<*\n")); 
     int used=0;
-    for (int reg = 0; reg <= highestUsedReg; reg++) {
-       if (speedTable[reg].loco>0) {
+    SLOTLOOP {
+       if (slot->loco==0) break;  // no more locos
+       if (slot->loco>0) {
         used ++;
-        StringFormatter::send(stream,F("cab=%d, speed=%d, dir=%c \n"),
-           speedTable[reg].loco,  speedTable[reg].speedCode & 0x7f,(speedTable[reg].speedCode & 0x80) ? 'F':'R');
+        StringFormatter::send(stream,F("cab=%d, speed=%d, target=%d, momentum=%d/%d, block=%d\n"),
+           slot->loco,  slot->speedCode, slot->targetSpeed,
+           slot->momentumA, slot->momentumD, slot->blockOccupied);
        }
      }
-     StringFormatter::send(stream,F("Used=%d, max=%d\n"),used,MAX_LOCOS);
-
+     StringFormatter::send(stream,F("Used=%d, max=%d, momentum=%d/%d *>\n"),
+                            used,MAX_LOCOS, DCC::defaultMomentumA,DCC::defaultMomentumD);
+}
+
+void DCC::setLocoInBlock(int loco, uint16_t blockid, bool exclusive) {
+  // avoid unused warnings when EXRAIL not active
+  (void)loco; (void)blockid; (void)exclusive;
+  
+  // update block loco is in, tell exrail leaving old block, and entering new.
+
+  // NOTE: The loco table scanning is really inefficient and needs rewriting
+  //   This was done once in the momentum poc.  
+  #ifdef EXRAIL_ACTIVE
+  auto slot=lookupSpeedTable(loco,true);
+  if (!slot) return;
+  auto oldBlock=slot->blockOccupied; 
+  if (oldBlock==blockid) return; 
+  if (oldBlock) RMFT2::blockEvent(oldBlock,loco,false);
+  slot->blockOccupied=blockid;
+  if (blockid) RMFT2::blockEvent(blockid,loco,true);
+
+  if (exclusive) {
+    SLOTLOOP {
+       if (slot->loco==0) break;  // no more locos
+       if (slot->loco>0) {
+          if (slot->loco!=loco &&  slot->blockOccupied==blockid) {
+            RMFT2::blockEvent(blockid,slot->loco,false);
+            slot->blockOccupied=0;
+          }
+      }
+    }
+  }
+  #endif 
+}
+
+void DCC::clearBlock(uint16_t blockid) {
+  (void)blockid; // avoid unused warning when EXRAIL not active
+  // clear block occupied by loco, tell exrail about all leavers
+  #ifdef EXRAIL_ACTIVE
+  SLOTLOOP {
+       if (slot->loco==0) break;  // no more locos
+       if (slot->loco>0) {
+        if (slot->blockOccupied==blockid) {
+        RMFT2::blockEvent(blockid,slot->loco,false);
+        slot->blockOccupied=0;
+        }
+      }
+  }
+  #endif 
 }

DCC.h

@@ -3,7 +3,7 @@
  *  © 2021 Fred Decker
  *  © 2021 Herb Morton
  *  © 2020-2021 Harald Barth
- *  © 2020-2021 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
@@ -59,11 +59,15 @@ public:
 
   // Public DCC API functions
   static void setThrottle(uint16_t cab, uint8_t tSpeed, bool tDirection);
+  static void estopAll();
   static int8_t getThrottleSpeed(int cab);
   static uint8_t getThrottleSpeedByte(int cab);
+  static uint8_t getLocoSpeedByte(int cab); // may lag throttle 
   static uint8_t getThrottleFrequency(int cab);
   static bool getThrottleDirection(int cab);
   static void writeCVByteMain(int cab, int cv, byte bValue);
+  static void readCVByteMain(int cab, int cv, ACK_CALLBACK callback);
+  
   static void writeCVBitMain(int cab, int cv, byte bNum, bool bValue);
   static void setFunction(int cab, byte fByte, byte eByte);
   static bool setFn(int cab, int16_t functionNumber, bool on);
@@ -83,7 +87,9 @@ public:
   static void writeCVBit(int16_t cv, byte bitNum, bool bitValue, ACK_CALLBACK callback);
   static void verifyCVByte(int16_t cv, byte byteValue, ACK_CALLBACK callback);
   static void verifyCVBit(int16_t cv, byte bitNum, bool bitValue, ACK_CALLBACK callback);
-
+  static bool setTime(uint16_t minutes,uint8_t speed, bool suddenChange);
+  static void setLocoInBlock(int loco, uint16_t blockid, bool exclusive);
+  static void clearBlock(uint16_t blockid);
   static void getLocoId(ACK_CALLBACK callback);
   static void setLocoId(int id,ACK_CALLBACK callback);
   static void setConsistId(int id,bool reverse,ACK_CALLBACK callback);
@@ -102,20 +108,31 @@ public:
     byte speedCode;
     byte groupFlags;
     uint32_t functions;
+    // Momentum management variables
+    uint32_t momentum_base;     // millis() when speed modified under momentum
+    byte momentumA, momentumD;
+    byte targetSpeed;           // speed set by throttle
+    uint16_t blockOccupied; // railcom detected block 
   };
+ static const int16_t MOMENTUM_FACTOR=7;  
+ static const byte MOMENTUM_USE_DEFAULT=255;
+ static bool linearAcceleration;  
+ static byte getMomentum(LOCO * slot);
+ 
  static LOCO speedTable[MAX_LOCOS];
- static int lookupSpeedTable(int locoId, bool autoCreate=true);
+ static LOCO * lookupSpeedTable(int locoId, bool autoCreate=true);
  static byte cv1(byte opcode, int cv);
  static byte cv2(int cv);
+ static bool setMomentum(int locoId,int16_t accelerating, int16_t decelerating);
  
 private:
   static byte loopStatus;
+  static byte defaultMomentumA;  // Accelerating
+  static byte defaultMomentumD;  // Accelerating
   static void setThrottle2(uint16_t cab, uint8_t speedCode);
-  static void updateLocoReminder(int loco, byte speedCode);
-  static void setFunctionInternal(int cab, byte fByte, byte eByte, byte count);
-  static bool issueReminder(int reg);
-  static int lastLocoReminder;
-  static int highestUsedReg;
+  static void setFunctionInternal(int cab, byte group, byte fByte, byte eByte);
+  static bool issueReminder(LOCO * slot);
+  static LOCO* nextLocoReminder;
   static FSH *shieldName;
   static byte globalSpeedsteps;
 
@@ -126,6 +143,7 @@ private:
   // NMRA codes #
   static const byte SET_SPEED = 0x3f;
   static const byte WRITE_BYTE_MAIN = 0xEC;
+  static const byte READ_BYTE_MAIN = 0xE4;
   static const byte WRITE_BIT_MAIN = 0xE8;
   static const byte WRITE_BYTE = 0x7C;
   static const byte VERIFY_BYTE = 0x74;

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;
   }
@@ -339,6 +347,20 @@ void DCCACK::loop() {
             opcode=GETFLASH(ackManagerProg);
           }
           break;
+     case BAD20SKIP:
+          if (ackManagerByte > 120) {
+            // skip to SKIPTARGET if cv20 is >120 (some decoders respond with 255)
+            if (Diag::ACK) DIAG(F("XX cv20=%d "),ackManagerByte);
+            while (opcode!=SKIPTARGET) {
+              ackManagerProg++;
+              opcode=GETFLASH(ackManagerProg);
+            }
+          }
+          break; 
+     case FAIL_IF_NONZERO_NAK: // fail if writing long address to decoder that cant support it
+          if (ackManagerByte==0) break;
+          callback(-4);  
+          return;           
      case SKIPTARGET:
           break;
      default:
@@ -483,4 +505,3 @@ 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 
 }
-

DCCACK.h

@@ -58,6 +58,8 @@ enum ackOp : byte
   ITSKIP,           // skip to SKIPTARGET if ack true
   NAKSKIP,          // skip to SKIPTARGET if ack false
   COMBINE1920,      // combine cvs 19 and 20 and callback
+  BAD20SKIP,        // skip to SKIPTARGET if cv20 is >120 (some decoders respond with 255) 
+  FAIL_IF_NONZERO_NAK, // fail if writing long address to decoder that cant support it
   SKIPTARGET = 0xFF // jump to target
 };
 

DCCDecoder.cpp

@@ -0,0 +1,178 @@
+/*
+ *  © 2025 Harald Barth
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+#ifdef ARDUINO_ARCH_ESP32
+#include "DCCDecoder.h"
+#include "LocoTable.h"
+#include "DCCEXParser.h"
+#include "DIAG.h"
+#include "DCC.h"
+
+bool DCCDecoder::parse(DCCPacket &p) {
+  if (!active)
+    return false;
+  const byte DECODER_MOBILE = 1;
+  const byte DECODER_ACCESSORY = 2;
+  byte decoderType = 0; // use 0 as none
+  byte *d = p.data();
+  byte *instr = 0;      // will be set to point to the instruction part of the DCC packet (instr[0] to instr[n])
+  uint16_t addr;        // will be set to decoder addr (long/shor mobile or accessory) 
+  bool locoInfoChanged = false;
+
+  if (d[0] ==  0B11111111) {  // Idle packet
+    return false;
+  }
+  // CRC verification here
+  byte checksum = 0;
+  for (byte n = 0; n < p.len(); n++)
+    checksum ^= d[n];
+  if (checksum) {  // Result should be zero, if not it's an error!
+    if (Diag::SNIFFER) {
+      DIAG(F("Checksum error:"));
+      p.print();
+    }
+    return false;
+  }
+
+/*
+  Serial.print("< ");
+  for(int n=0; n<8; n++) {
+    Serial.print(d[0]&(1<<n)?"1":"0");
+  }
+  Serial.println(" >");
+*/
+  if (bitRead(d[0],7) == 0) { // bit7 == 0 => loco short addr
+    decoderType = DECODER_MOBILE;
+    instr = d+1;
+    addr = d[0];
+  } else {
+    if (bitRead(d[0],6) == 1) { // bit7 == 1 and bit6 == 1 => loco long addr
+      decoderType = DECODER_MOBILE;
+      instr = d+2;
+      addr = 256 * (d[0] & 0B00111111) + d[1];
+    } else { // bit7 == 1 and bit 6 == 0
+      decoderType = DECODER_ACCESSORY;
+      instr = d+1;
+      addr = d[0] &  0B00111111;
+    }
+  }
+  if (decoderType == DECODER_MOBILE) {
+    switch (instr[0] & 0xE0) {
+    case 0x20: // 001x-xxxx Extended commands
+      if (instr[0] == 0B00111111) { // 128 speed steps
+	if ((locoInfoChanged = LocoTable::updateLoco(addr, instr[1])) == true) {
+	  byte speed = instr[1] & 0B01111111;
+	  byte direction = instr[1] & 0B10000000;
+	  DCC::setThrottle(addr, speed, direction);
+	  //DIAG(F("UPDATE"));
+	  // send speed change to DCCEX here
+	}
+      }
+      break;
+    case 0x40: // 010x-xxxx 28 (or 14 step) speed we assume 28
+    case 0x60: // 011x-xxxx
+      if ((locoInfoChanged = LocoTable::updateLoco(addr, instr[0] & 0B00111111)) == true) {
+	byte speed = instr[0] & 0B00001111; // first only look at 4 bits
+	if (speed > 1) {               // neither stop nor emergency stop, recalculate speed
+	  speed = ((instr[0] & 0B00001111) << 1) + bitRead(instr[0], 4); // reshuffle bits
+	  speed = (speed - 3) * 9/2;
+	}
+	byte direction = instr[0] & 0B00100000;
+	DCC::setThrottle(addr, speed, direction);
+      }
+      break;
+    case 0x80: // 100x-xxxx Function group 1
+      if ((locoInfoChanged = LocoTable::updateFunc(addr, instr[0], 1)) == true) {
+	byte normalized = (instr[0] << 1 & 0x1e) | (instr[0] >> 4 & 0x01);
+	DCCEXParser::funcmap(addr, normalized, 0, 4);
+      }
+      break;
+    case 0xA0: // 101x-xxxx Function group 3 and 2
+    {
+      byte low, high;
+      if (bitRead(instr[0], 4)) {
+	low = 5;
+	high = 8;
+      } else {
+	low = 9;
+	high = 12;
+      }
+      if ((locoInfoChanged = LocoTable::updateFunc(addr, instr[0], low)) == true) {
+	DCCEXParser::funcmap(addr, instr[0], low, high);
+      }
+    }
+    break;
+    case 0xC0: // 110x-xxxx Extended (here are functions F13 and up
+      switch (instr[0] & 0B00011111) {
+      case 0B00011110:  // F13-F20 Function Control
+	if ((locoInfoChanged = LocoTable::updateFunc(addr, instr[0], 13)) == true) {
+	  DCCEXParser::funcmap(addr, instr[1], 13, 20);
+	}
+	if ((locoInfoChanged = LocoTable::updateFunc(addr, instr[0], 17)) == true) {
+	  DCCEXParser::funcmap(addr, instr[1], 13, 20);
+	}
+      break;
+      case 0B00011111:  // F21-F28 Function Control
+	if ((locoInfoChanged = LocoTable::updateFunc(addr, instr[1], 21)) == true) {
+	  DCCEXParser::funcmap(addr, instr[1], 21, 28);
+	}  // updateFunc handles only the 4 low bits as that is the most common case
+	if ((locoInfoChanged = LocoTable::updateFunc(addr, instr[1]>>4, 25)) == true) {
+	  DCCEXParser::funcmap(addr, instr[1], 21, 28);
+	}
+	break;
+	/* do that later
+      case 0B00011000:  // F29-F36 Function Control
+	break;
+      case 0B00011001:  // F37-F44 Function Control
+	break;
+      case 0B00011010:  // F45-F52 Function Control
+	break;
+      case 0B00011011:  // F53-F60 Function Control
+	break;
+      case 0B00011100:  // F61-F68 Function Control
+	break;
+	*/
+      }
+      break;
+    case 0xE0: // 111x-xxxx Config vars
+      break;
+    }
+    return locoInfoChanged;
+  }
+  if (decoderType == DECODER_ACCESSORY) {
+      if (instr[0] & 0B10000000) {  // Basic Accessory
+	addr = (((~instr[0]) & 0B01110000) << 2) + addr;
+	byte port = (instr[0] & 0B00000110) >> 1;
+	byte activate = (instr[0] & 0B00001000) >> 3;
+	byte coil = (instr[0] & 0B00000001);
+	locoInfoChanged = true;
+	//(void)addr; (void)port; (void)coil; (void)activate;
+	//DIAG(F("HL=%d LL=%d C=%d A=%d"), addr, port, coil, activate);
+	DCC::setAccessory(addr, port, coil, activate);
+      } else { // Accessory Extended NMRA spec, do we need to decode this?
+	/*
+	addr = (addr << 5) +
+	  ((instr[0] & 0B01110000) >> 2) +
+	  ((instr[0] & 0B00000110) >> 1);
+	*/
+      }
+    return locoInfoChanged;
+  }
+  return false;
+}
+#endif // ARDUINO_ARCH_ESP32

DCCDecoder.h

@@ -0,0 +1,30 @@
+/*
+ *  © 2025 Harald Barth
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+#ifdef ARDUINO_ARCH_ESP32
+#include <Arduino.h>
+#include "DCCPacket.h"
+
+class DCCDecoder {
+public:
+  static bool parse(DCCPacket &p);
+  static inline void onoff(bool on) {active = on;};
+private:
+  static bool active;
+};
+#endif // ARDUINO_ARCH_ESP32

DCCEXParser.cpp

@@ -2,11 +2,11 @@
  *  © 2022 Paul M Antoine
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
- *  © 2021-2024 Herb Morton
- *  © 2020-2023 Harald Barth
+ *  © 2021-2025 Herb Morton
+ *  © 2020-2025 Harald Barth
  *  © 2020-2021 M Steve Todd
  *  © 2020-2021 Fred Decker
- *  © 2020-2021 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  © 2022 Colin Murdoch
  *  All rights reserved.
  *  
@@ -64,11 +64,12 @@ Once a new OPCODE is decided upon, update this list.
   I, Turntable object command, control, and broadcast
   j, Throttle responses
   J, Throttle queries
-  k, Reserved for future use - Potentially Railcom
-  K, Reserved for future use - Potentially Railcom
+  k, Block exit  (Railcom)
+  K, Block enter (Railcom)
   l, Loco speedbyte/function map broadcast
   L, Reserved for LCC interface (implemented in EXRAIL)
-  m, message to throttles broadcast 
+  m, message to throttles (broadcast output) 
+  m, set momentum  
   M, Write DCC packet
   n, Reserved for SensorCam
   N, Reserved for Sensorcam 
@@ -117,8 +118,11 @@ Once a new OPCODE is decided upon, update this list.
 #include "Turntables.h"
 #include "version.h"
 #include "KeywordHasher.h"
+#include "CamParser.h"
+#include "Stash.h"
 #ifdef ARDUINO_ARCH_ESP32
 #include "WifiESP32.h"
+#include "DCCDecoder.h"
 #endif
 
 // This macro can't be created easily as a portable function because the
@@ -166,8 +170,10 @@ 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;
 
@@ -236,6 +242,7 @@ int16_t DCCEXParser::splitValues(int16_t result[MAX_COMMAND_PARAMS], byte *cmd,
 extern __attribute__((weak))  void myFilter(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
 FILTER_CALLBACK DCCEXParser::filterCallback = myFilter;
 FILTER_CALLBACK DCCEXParser::filterRMFTCallback = 0;
+FILTER_CALLBACK DCCEXParser::filterCamParserCallback = 0;
 AT_COMMAND_CALLBACK DCCEXParser::atCommandCallback = 0;
 
 // deprecated
@@ -247,6 +254,10 @@ void DCCEXParser::setRMFTFilter(FILTER_CALLBACK filter)
 {
     filterRMFTCallback = filter;
 }
+void DCCEXParser::setCamParserFilter(FILTER_CALLBACK filter)
+{
+    filterCamParserCallback = filter;
+}
 void DCCEXParser::setAtCommandCallback(AT_COMMAND_CALLBACK callback)
 {
     atCommandCallback = callback;
@@ -264,17 +275,22 @@ 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>"
+  byte *cForLater = NULL;
   bool found = (com[0] != '<');
   for (byte *c=com; c[0] != '\0'; c++) {
     if (found) {
-      parseOne(stream, c,  ringStream);
+      cForLater = c;
       found=false;
     }
-    if (c[0] == '<')
+    if (c[0] == '<') {
+      if (cForLater) parseOne(stream, cForLater, ringStream);
       found = true;
+    }
   }
+  if (cForLater) parseOne(stream, cForLater, ringStream);
 }
 
 void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
@@ -302,6 +318,8 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         filterCallback(stream, opcode, params, p);
     if (filterRMFTCallback && opcode!='\0')
         filterRMFTCallback(stream, opcode, params, p);
+    if (filterCamParserCallback && opcode!='\0')
+        filterCamParserCallback(stream, opcode, params, p);
 
     // Functions return from this switch if complete, break from switch implies error <X> to send
     switch (opcode)
@@ -315,12 +333,9 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         int16_t direction;
 
         if (params==1) {  // <t cab>  display state
-	  int16_t slot=DCC::lookupSpeedTable(p[0],false);
-	  if (slot>=0)
-	    CommandDistributor::broadcastLoco(slot);
-	  else // send dummy state speed 0 fwd no functions.
-            StringFormatter::send(stream,F("<l %d -1 128 0>\n"),p[0]);
-	  return;
+         if (p[0]<=0) break;
+	     CommandDistributor::broadcastLoco(DCC::lookupSpeedTable(p[0],false));
+	     return;
         }
 
         if (params == 4)
@@ -401,7 +416,8 @@ 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 +473,7 @@ 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;
@@ -481,12 +497,35 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
       DCC::writeCVByteMain(p[0], p[1], p[2]);
       return;
 
+#ifdef HAS_ENOUGH_MEMORY    
+    case 'r': // READ CV on MAIN <r CAB CV>  Requires Railcom
+      if (params != 2)
+	break;
+      if (!DCCWaveform::isRailcom()) break;
+      if (!stashCallback(stream, p, ringStream)) break;
+      DCC::readCVByteMain(p[0], p[1],callback_r);
+      return;
+#endif      
+
     case 'b': // WRITE CV BIT ON MAIN <b CAB CV BIT VALUE>
       if (params != 4)
 	break;
       DCC::writeCVBitMain(p[0], p[1], p[2], p[3]);
       return;
 #endif
+    
+    case 'm': // <m cabid momentum [braking]>
+              // <m LINEAR|POWER>
+      if (params==1) {
+        if (p[0]=="LINEAR"_hk) DCC::linearAcceleration=true;
+        else if (p[0]=="POWER"_hk) DCC::linearAcceleration=false;
+        else break;
+        return; 
+      }        
+      if (params<2 || params>3) break;
+      if (params==2) p[2]=p[1];
+      if (DCC::setMomentum(p[0],p[1],p[2])) return; 
+      break; 
 
     case 'M': // WRITE TRANSPARENT DCC PACKET MAIN <M REG X1 ... X9>
 #ifndef DISABLE_PROG
@@ -636,7 +675,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 	}
 
     case '!': // ESTOP ALL  <!>
-        DCC::setThrottle(0,1,1); // this broadcasts speed 1(estop) and sets all reminders to speed 1.
+        DCC::estopAll(); // this broadcasts speed 1(estop) and sets all reminders to speed 1.
         return;
 
 #ifdef HAS_ENOUGH_MEMORY
@@ -674,6 +713,14 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
     case 'C': // CONFIG <C [params]>
 #if defined(ARDUINO_ARCH_ESP32)
 // currently this only works on ESP32
+      if (p[0] == "SNIFFER"_hk) { // <C SNIFFER ON|OFF>
+	bool on = false;
+	if (params>1 && p[1] == "ON"_hk) {
+	  on = true;
+	}
+	DCCDecoder::onoff(on);
+	return;
+      }
 #if defined(HAS_ENOUGH_MEMORY)
       if (p[0] == "WIFI"_hk) { 	// <C WIFI SSID PASSWORD>
 	if (params != 5)        // the 5 params 0 to 4 are (kinda): WIFI_hk 0x7777 &SSID 0x7777 &PASSWORD
@@ -735,7 +782,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 
     case 'J' : // throttle info access
         {
-            if ((params<1) | (params>3)) break; // <J>
+            if (params<1) break; // <J>
             //if ((params<1) | (params>2)) break; // <J>
             int16_t id=(params==2)?p[1]:0;
             switch(p[0]) {
@@ -758,16 +805,20 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                     TrackManager::reportCurrent(stream);   // <g limit...limit>     
                     return;
 
+                case "L"_hk: // <JL display row> track state and mA value on display
+                    if (params<3) break;
+                    TrackManager::reportCurrentLCD(p[1], p[2]);   // Track power status     
+                    return;                    
+
                 case "A"_hk: // <JA> intercepted by EXRAIL// <JA> returns automations/routes
                     if (params!=1) break; // <JA>
                     StringFormatter::send(stream, F("<jA>\n"));
                     return;
  
-                case "M"_hk: // <JM> intercepted by EXRAIL
-                    if (params>1) break; // invalid cant do
-                    // <JM> requests stash size so say none.
-                    StringFormatter::send(stream,F("<jM 0>\n")); 
-                    return;
+                case "M"_hk: // <JM> Stash management
+                    if (parseJM(stream, params, p))
+                        return;
+                    break;
  
             case "R"_hk: // <JR> returns rosters 
                 StringFormatter::send(stream, F("<jR"));
@@ -876,10 +927,10 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             return;
         break;
 #endif
-
     case '/': // implemented in EXRAIL parser
     case 'L': // LCC interface implemented in EXRAIL parser
-        break; // Will <X> if not intercepted by EXRAIL 
+    case 'N': // interface implemented in CamParser
+        break; // Will <X> if not intercepted by filters
 
 #ifndef DISABLE_VDPY
     case '@': // JMRI saying "give me virtual LCD msgs"
@@ -1206,6 +1257,10 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         return true;
 
 #ifdef HAS_ENOUGH_MEMORY
+    case "RAILCOM"_hk: // <D RAILCOM ON/OFF>
+        Diag::RAILCOM = onOff;
+        return true;
+
     case "WIFI"_hk: // <D WIFI ON/OFF>
         Diag::WIFI = onOff;
         return true;
@@ -1221,6 +1276,14 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
     case "LCN"_hk: // <D LCN ON/OFF>
         Diag::LCN = onOff;
         return true;
+
+    case "SNIFFER"_hk: // <D SNIFFER ON/OFF>
+        Diag::SNIFFER = onOff;
+        return true;
+
+    case "WEBSOCKET"_hk: // <D WEBSOCKET ON/OFF>
+        Diag::WEBSOCKET = onOff;
+        return true;
 #endif
 #ifndef DISABLE_EEPROM
     case "EEPROM"_hk: // <D EEPROM NumEntries>
@@ -1350,6 +1413,40 @@ bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
 }
 #endif
 
+bool DCCEXParser::parseJM(Print *stream, int16_t params, int16_t p[]) {
+  switch (params) {
+    case 1: // <JM> list all stashed automations
+        Stash::list(stream);
+        return true; 
+        
+    case 2: // <JM id> get stash value 
+        Stash::list(stream, p[1]);
+        return true;
+
+    case 3: // 
+        if (p[1]=="CLEAR"_hk) {
+            if (p[2]=="ALL"_hk) { // <JM CLEAR ALL>
+                Stash::clearAll();
+                return true;
+            }
+            Stash::clear(p[2]); // <JM CLEAR id>
+            return true;
+        }
+        Stash::set(p[1], p[2]);  // <JM id loco>
+        return true;
+    
+    case 4: // <JM CLEAR ANY id>
+    if (p[1]=="CLEAR"_hk && p[2]=="ANY"_hk) { 
+        // <JM CLEAR ANY id>
+        Stash::clearAny(p[3]);
+        return true;
+    }
+    
+    default: break;
+}
+return false;
+}
+
 // CALLBACKS must be static
 bool DCCEXParser::stashCallback(Print *stream, int16_t p[MAX_COMMAND_PARAMS], RingStream * ringStream)
 {
@@ -1413,6 +1510,12 @@ void DCCEXParser::callback_R(int16_t result)
     commitAsyncReplyStream();
 }
 
+void DCCEXParser::callback_r(int16_t result)
+{
+    StringFormatter::send(getAsyncReplyStream(), F("<r %d %d %d >\n"), stashP[0], stashP[1], result);
+    commitAsyncReplyStream();
+}
+
 void DCCEXParser::callback_Rloco(int16_t result) {
   const FSH * detail;
   if (result<=0) {
@@ -1439,6 +1542,7 @@ void DCCEXParser::callback_Wloco(int16_t result)
 
 void DCCEXParser::callback_Wconsist(int16_t result)
 {
+    if (result==-4) DIAG(F("Long Consist %d not supported by decoder"),stashP[1]);
     if (result==1) result=stashP[1]; // pick up original requested id from command
     StringFormatter::send(getAsyncReplyStream(), F("<w CONSIST %d%S>\n"),
      result, stashP[2]=="REVERSE"_hk ? F(" REVERSE") : F(""));

DCCEXParser.h

@@ -1,7 +1,7 @@
 /*
  *  © 2021 Mike S
  *  © 2021 Fred Decker
- *  © 2020-2021 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
@@ -37,8 +37,10 @@ struct DCCEXParser
    static void parseOne(Print * stream,  byte * command,  RingStream * ringStream);
    static void setFilter(FILTER_CALLBACK filter);
    static void setRMFTFilter(FILTER_CALLBACK filter);
+   static void setCamParserFilter(FILTER_CALLBACK filter);
    static void setAtCommandCallback(AT_COMMAND_CALLBACK filter);
    static const int MAX_COMMAND_PARAMS=10;  // Must not exceed this
+   static bool funcmap(int16_t cab, byte value, byte fstart, byte fstop);
  
    private:
   
@@ -51,6 +53,7 @@ struct DCCEXParser
     static bool parsef(Print * stream, int16_t params, int16_t p[]);
     static bool parseC(Print * stream, int16_t params, int16_t p[]);
     static bool parseD(Print * stream, int16_t params, int16_t p[]);
+    static bool parseJM(Print * stream, int16_t params, int16_t p[]);
 #ifndef IO_NO_HAL
     static bool parseI(Print * stream, int16_t params, int16_t p[]);
 #endif
@@ -68,7 +71,8 @@ struct DCCEXParser
     static void callback_W(int16_t result);
     static void callback_W4(int16_t result);
     static void callback_B(int16_t result);        
-    static void callback_R(int16_t result);
+    static void callback_R(int16_t result); // prog
+    static void callback_r(int16_t result); // main
     static void callback_Rloco(int16_t result);
     static void callback_Wloco(int16_t result);
     static void callback_Wconsist(int16_t result);
@@ -76,8 +80,8 @@ struct DCCEXParser
     static void callback_Vbyte(int16_t result);
     static FILTER_CALLBACK  filterCallback;
     static FILTER_CALLBACK  filterRMFTCallback;
+    static FILTER_CALLBACK  filterCamParserCallback;
     static AT_COMMAND_CALLBACK  atCommandCallback;
-    static bool funcmap(int16_t cab, byte value, byte fstart, byte fstop);
     static void sendFlashList(Print * stream,const int16_t flashList[]);
 
 };

DCCPacket.h

@@ -0,0 +1,83 @@
+/*
+ *  © 2025 Harald Barth
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+#include <Arduino.h>
+#ifndef DCCPacket_h
+#define DCCPacket_h
+#include <strings.h>
+#include "defines.h"
+
+class DCCPacket {
+public:
+  DCCPacket() {
+    _len = 0;
+    _data = NULL;
+  };
+  DCCPacket(byte *d, byte l) {
+    _len = l;
+    _data = new byte[_len];
+    for (byte n = 0; n<_len; n++)
+      _data[n] = d[n];
+  };
+  DCCPacket(const DCCPacket &old) {
+    _len = old._len;
+    _data = new byte[_len];
+    for (byte n = 0; n<_len; n++)
+      _data[n] = old._data[n];
+  };
+  DCCPacket &operator=(const DCCPacket &rhs) {
+    if (this == &rhs)
+      return *this;
+    delete[]_data;
+    _len = rhs._len;
+    _data = new byte[_len];
+    for (byte n = 0; n<_len; n++)
+      _data[n] = rhs._data[n];
+    return *this;
+  };
+  ~DCCPacket() {
+    if (_len) {
+      delete[]_data;
+      _len = 0;
+      _data = NULL;
+    }
+  };
+  inline bool operator==(const DCCPacket &right) {
+    if (_len != right._len)
+      return false;
+    if (_len == 0)
+      return true;
+    return (bcmp(_data, right._data, _len) == 0);
+  };
+  void print() {
+    static const char hexchars[]="0123456789ABCDEF";
+    USB_SERIAL.print(F("<* DCCPACKET "));
+    for (byte n = 0; n< _len; n++) {
+      USB_SERIAL.print(hexchars[_data[n]>>4]);
+      USB_SERIAL.print(hexchars[_data[n] & 0x0f]);
+      USB_SERIAL.print(' ');
+    }
+    USB_SERIAL.print(F("*>\n"));
+  };
+  inline byte len() {return _len;};
+  inline byte *data() {return _data;};
+private:
+  byte _len = 0;
+  byte *_data = NULL;
+};
+#endif

DCCQueue.cpp

@@ -0,0 +1,257 @@
+/*
+ *  © 2025 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+/* What does this queue manager do:
+  1. It provides a high priority queue and a low priority queue.
+  2. It manages situations where multiple loco speed commands are in the queue.
+  3. It allows an ESTOP to jump the queue and eliminate any outstanding speed commands that would later undo the stop.
+  4. It allows for coil on/off accessory commands to be synchronized to a given time delay.
+  5. It prevents transmission of sequential packets to the same loco id 
+  */
+#include "Arduino.h"
+#include "defines.h"
+#include "DCCQueue.h"
+#include "DCCWaveform.h"
+#include "DIAG.h"
+
+// create statics 
+DCCQueue* DCCQueue::lowPriorityQueue=new DCCQueue();
+DCCQueue* DCCQueue::highPriorityQueue=new DCCQueue();
+PendingSlot* DCCQueue::recycleList=nullptr;
+uint16_t DCCQueue::lastSentPacketLocoId=0; // used to prevent two packets to the same loco in a row
+
+
+    DCCQueue::DCCQueue() {
+        head=nullptr;
+        tail=nullptr;
+    }
+    
+    void DCCQueue::addQueue(PendingSlot* p) {
+        if (tail) tail->next=p;
+        else head=p;
+        tail=p;
+        p->next=nullptr;          
+    }
+
+    void DCCQueue::jumpQueue(PendingSlot* p) {
+        p->next=head;
+        head=p;
+        if (!tail) tail=p; 
+    }
+
+    
+    void DCCQueue::recycle(PendingSlot* p) {
+        p->next=recycleList;
+        recycleList=p;
+    }
+    
+    void DCCQueue::remove(PendingSlot* premove) {
+        PendingSlot* previous=nullptr;
+        for (auto p=head;p;previous=p,p=p->next) {
+            if (p==premove) {
+                // remove this slot from the queue 
+                if (previous) previous->next=p->next;
+                else head=p->next;
+                if (p==tail) tail=previous; // if last packet, update tail
+                return;
+            }
+        }
+        DIAG(F("DCCQueue::remove slot not found"));
+      
+    }
+
+    // Packet joins end of low priority queue.
+    void DCCQueue::scheduleDCCPacket(byte* packet, byte length, byte repeats, uint16_t loco) {
+        lowPriorityQueue->addQueue(getSlot(NORMAL_PACKET,packet,length,repeats,loco));
+    }
+    
+    // Packet replaces existing loco speed packet or joins end of high priority queue. 
+    
+    void DCCQueue::scheduleDCCSpeedPacket(byte* packet, byte length, byte repeats, uint16_t loco) {
+        for (auto p=highPriorityQueue->head;p;p=p->next) {
+            if (p->locoId==loco) {
+                // replace existing packet
+                memcpy(p->packet,packet,length);
+                p->packetLength=length;
+                p->packetRepeat=repeats;
+                return;
+            }
+        }
+        highPriorityQueue->addQueue(getSlot(SPEED_PACKET,packet,length,repeats,loco));
+    }
+    
+    // Packet replaces existing loco function packet or joins end of high priority queue. 
+    
+    void DCCQueue::scheduleDCCFunctionPacket(byte* packet, byte length, uint16_t loco, byte group) {
+        PendingType type=DEAD_PACKET;
+        switch(group) {
+            case 1: type=FUNCTION1_PACKET; break;
+            case 2: type=FUNCTION2_PACKET; break;
+            case 3: type=FUNCTION3_PACKET; break;
+            case 4: type=FUNCTION4_PACKET; break;
+            case 5: type=FUNCTION5_PACKET; break;
+            default:
+                DIAG(F("DCCQueue::scheduleDCCFunctionPacket invalid group %d"),group);
+                return; // invalid group
+        }
+
+        for (auto p=lowPriorityQueue->head;p;p=p->next) {
+            if (p->locoId==loco && p->type==type) {
+                // replace existing packet for same loco and function group
+                memcpy(p->packet,packet,length);
+                p->packetLength=length;
+                p->packetRepeat=0;
+                return;
+            }
+        }
+        lowPriorityQueue->addQueue(getSlot(type,packet,length,0,loco));
+    }
+    
+    // ESTOP -  
+    // any outstanding throttle packet for this loco (all if loco=0) discarded
+    // Packet joins start of queue,
+   
+    
+    void DCCQueue::scheduleEstopPacket(byte* packet, byte length, byte repeats,uint16_t loco) {
+        
+        // DIAG(F("DCC ESTOP loco=%d"),loco);
+       
+        // kill any existing throttle packets for this loco (or all locos if broadcast)
+        // this will also remove any estop packets for this loco (or all locos if broadcast) but they will be replaced
+        PendingSlot * pNext=nullptr;
+        for (auto p=highPriorityQueue->head;p;p=pNext) {
+            pNext=p->next; // save next packet in case we recycle this one                
+            if (p->type!=ACC_OFF_PACKET && (loco==0 || p->locoId==loco)) {
+                // remove this slot from the queue or it will interfere with our ESTOP
+                highPriorityQueue->remove(p);
+                recycle(p);  // recycle this slot
+            }
+        }
+        // add the estop packet to the start of the queue
+        highPriorityQueue->jumpQueue(getSlot(SPEED_PACKET,packet,length,repeats,0));
+    }
+
+    // Accessory coil-On Packet joins end of queue as normal.
+    // When dequeued, packet is retained at start of queue 
+    // but modified to coil-off and given the delayed start.
+    // getNext will ignore this packet until the requested start time. 
+    void DCCQueue::scheduleAccOnOffPacket(byte* packet, byte length, byte repeats,int16_t delayms) {
+        auto p=getSlot(ACC_ON_PACKET,packet,length,repeats,0);
+        p->delayOff=delayms;
+        lowPriorityQueue->addQueue(p);
+    };
+
+    
+    // Schedule the next dcc packet from the queues or an idle packet if none pending.
+    const byte idlePacket[] = {0xFF, 0x00};
+
+    bool DCCQueue::scheduleNext(bool force) {
+        if (highPriorityQueue->scheduleNextInternal()) return true;
+        if (lowPriorityQueue->scheduleNextInternal()) return true;
+        if (force) {
+            // This will arise when there is nothing available to be sent that will not compromise the rules
+            // typically this will only happen when there is only one loco in the reminders as the closely queued 
+            // speed and function reminders must be separated by at least one packet not sent to that loco.
+            DCCWaveform::mainTrack.schedulePacket(idlePacket,sizeof(idlePacket),0);
+            lastSentPacketLocoId=0;
+            return true;
+        }
+        return false;
+    }
+
+    bool DCCQueue::scheduleNextInternal() {
+
+        for (auto p=head;p;p=p->next) {
+            // skip over pending ACC_OFF packets which are still delayed
+            if (p->type == ACC_OFF_PACKET && millis()<p->startTime) continue;
+            if (p->locoId) {
+                // Prevent two consecutive packets to the same loco. 
+                // this also means repeats cant be done by waveform 
+                if (p->locoId==lastSentPacketLocoId) continue;  // try again later 
+                DCCWaveform::mainTrack.schedulePacket(p->packet,p->packetLength,0);
+                lastSentPacketLocoId=p->locoId;
+                if (p->packetRepeat) {
+                    p->packetRepeat--;
+                    return true; // leave this packet in the queue
+                }
+            }
+            else {
+                // Non loco packets can repeat automatically
+                DCCWaveform::mainTrack.schedulePacket(p->packet,p->packetLength,p->packetRepeat);
+                lastSentPacketLocoId=0;
+            }
+
+            // remove this slot from the queue 
+            remove(p);
+            
+            // special cases handling 
+            if (p->type == ACC_ON_PACKET) {
+                // convert to a delayed off packet and jump the high priority queue
+                p->type= ACC_OFF_PACKET;
+                p->packet[1]  &= ~0x08; // set C to 0 (gate off) 
+                p->startTime=millis()+p->delayOff;
+                highPriorityQueue->jumpQueue(p);
+            }
+            else recycle(p); 
+            return true;
+        }
+        
+        // No packets found
+        return false;
+    }
+    
+    // obtain and initialise slot for a PendingSlot.
+    PendingSlot*  DCCQueue::getSlot(PendingType type, byte* packet, byte length, byte repeats,uint16_t loco) {
+        PendingSlot * p; 
+        if (recycleList) {
+            p=recycleList;
+            recycleList=p->next;
+        }
+        else { 
+            static int16_t created=0;
+            int16_t q1=0;
+            int16_t q2=0;
+            for (auto p=highPriorityQueue->head;p;p=p->next) q1++;
+            for (auto p=lowPriorityQueue->head;p;p=p->next) q2++;
+            bool leak=(q1+q2)!=created;
+            DIAG(F("New DCC queue slot type=%d length=%d loco=%d q1=%d q2=%d created=%d"),
+                   (int16_t)type,length,loco,q1,q2, created);
+            if (leak) {
+                for (auto p=highPriorityQueue->head;p;p=p->next) DIAG(F("q1 %d %d"),p->type,p->locoId);
+                for (auto p=lowPriorityQueue->head;p;p=p->next) DIAG(F("q2 %d %d"),p->type,p->locoId);
+            }       
+            p=new PendingSlot; // need a queue entry
+            created++; 
+        }
+        p->next=nullptr;
+        p->type=type;
+        p->packetLength=length;
+        p->packetRepeat=repeats; 
+        if (length>sizeof(p->packet)) {
+            DIAG(F("DCC bad packet length=%d"),length);
+            length=sizeof(p->packet); // limit to size of packet
+        }
+        p->startTime=0; // not used for loco packets
+        memcpy((void*)p->packet,packet,length);
+        p->locoId=loco;
+        return p; 
+    }
+
+    

DCCQueue.h

@@ -0,0 +1,88 @@
+/*
+ *  © 2025 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef DCCQueue_h
+#define DCCQueue_h
+#include "Arduino.h"
+#include "DCCWaveform.h"
+
+enum PendingType:byte {NORMAL_PACKET,
+  FUNCTION1_PACKET, FUNCTION2_PACKET, FUNCTION3_PACKET, FUNCTION4_PACKET, FUNCTION5_PACKET,
+  SPEED_PACKET,ACC_ON_PACKET,ACC_OFF_PACKET,DEAD_PACKET};
+  
+  struct PendingSlot {
+      PendingSlot* next; 
+      PendingType type;
+      byte packetLength;
+      byte packetRepeat;
+      byte packet[MAX_PACKET_SIZE];
+      
+      union { // use depends on packet type
+        uint16_t locoId;    // SPEED & FUNCTION packets  
+        uint16_t delayOff;  // ACC_ON_PACKET delay to apply between on/off
+        uint32_t startTime; // ACC_OFF_PACKET time (mS) to transmit 
+      };
+  };
+  
+class DCCQueue {
+  public:
+      
+    // Non-speed packets are queued in the main queue
+    static void scheduleDCCPacket(byte* packet, byte length, byte repeats, uint16_t loco=0);
+
+    // Speed packets are queued in the high priority queue
+    static void scheduleDCCSpeedPacket(byte* packet, byte length, byte repeats, uint16_t loco);
+    
+    // Function group packets are queued in the low priority queue
+    static void scheduleDCCFunctionPacket(byte* packet, byte length, uint16_t loco, byte group);
+
+    // ESTOP packets jump the high priority queue and discard any outstanding throttle packets for this loco  
+    static void scheduleEstopPacket(byte* packet, byte length, byte repeats,uint16_t loco);
+
+    // Accessory gate-On Packet joins end of main queue as normal. 
+    // When dequeued, packet is modified to gate-off and given the delayed start in the high priority queue. 
+    // getNext will ignore this packet until the requested start time.
+    static void scheduleAccOnOffPacket(byte* packet, byte length, byte repeats,int16_t delayms);
+
+  
+    // Schedules a main track packet from the queues.
+    static bool scheduleNext(bool force); 
+
+  private:
+    bool scheduleNextInternal(); 
+  // statics to manage high and low priority queues and recycleing of PENDINGs
+    static PendingSlot* recycleList;
+    static DCCQueue* highPriorityQueue;
+    static DCCQueue* lowPriorityQueue;
+    static uint16_t lastSentPacketLocoId; // used to prevent two packets to the same loco in a row
+
+    DCCQueue();
+    
+    PendingSlot*  head;
+    PendingSlot * tail;
+    
+    // obtain and initialise slot for a PendingSlot. 
+    static PendingSlot*  getSlot(PendingType type, byte* packet, byte length, byte repeats, uint16_t loco);
+    static void recycle(PendingSlot* p);
+    void addQueue(PendingSlot * p);
+    void jumpQueue(PendingSlot * p);
+    void remove(PendingSlot * p);
+};
+#endif // DCCQueue_h

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:

DCCTimerAVR.cpp

@@ -2,7 +2,7 @@
  *  © 2021 Mike S
  *  © 2021-2023 Harald Barth
  *  © 2021 Fred Decker
- *  © 2021 Chris Harlow
+ *  © 2021-2025 Chris Harlow
  *  © 2021 David Cutting
  *  All rights reserved.
  *  
@@ -57,66 +57,59 @@ void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
     TCCR1B = _BV(WGM13) | _BV(CS10);     // Mode 8, clock select 1
     TIMSK1 = _BV(TOIE1); // Enable Software interrupt
     interrupts();
+//diagnostic    pinMode(4,OUTPUT);
   }
 
 
 void DCCTimer::startRailcomTimer(byte brakePin) {
+  (void) brakePin; // Ignored... works on pin 9 only 
+  // diagnostic digitalWrite(4,HIGH);   
+
   /* The Railcom timer is started in such a way that it 
-     - First triggers 28uS after the last TIMER1 tick. 
+     - First triggers 58+29 uS after the previous TIMER1 tick. 
        This provides an accurate offset (in High Accuracy mode)
        for the start of the Railcom cutout.
-     - Sets the Railcom pin high at first tick, 
-       because its been setup with 100% PWM duty cycle.
+     - Sets the Railcom pin high at first tick and subsequent ticks 
+       until its reset to setting pin 9 low at next tick.
         
      - Cycles at 436uS so the second tick is the 
         correct distance from the cutout.
         
-     - Waveform code is responsible for altering the PWM 
-       duty cycle to 0% any time between the first and last tick.
+     - Waveform code is responsible for resetting 
+       any time between the first and second tick.
        (there will be 7 DCC timer1 ticks in which to do this.)
     
     */
-  (void) brakePin; // Ignored... works on pin 9 only 
   const int cutoutDuration = 430; // Desired interval in microseconds
-  
-  // Set up Timer2 for CTC mode (Clear Timer on Compare Match)
-  TCCR2A = 0; // Clear Timer2 control register A
-  TCCR2B = 0; // Clear Timer2 control register B
-  TCNT2 = 0;  // Initialize Timer2 counter value to 0
-   // Configure Phase and Frequency Correct PWM mode
-   TCCR2A =  (1 << COM2B1); // enable pwm on pin 9
-   TCCR2A |= (1 << WGM20);
-  
+  const int cycle=cutoutDuration/2;
    
-  // Set Timer 2 prescaler to 32
-  TCCR2B = (1 << CS21) | (1 << CS20); // 32 prescaler
-
-  // Set the compare match value for desired interval
-  OCR2A = (F_CPU / 1000000) * cutoutDuration / 64 - 1;
-
-  // Calculate the compare match value for desired duty cycle
-  OCR2B = OCR2A+1;  // set duty cycle to 100%= OCR2A)
-
+  const byte RailcomFudge0=58+58+29;
+  
+  // Set Timer2 to CTC mode with set on compare match
+  TCCR2A = (1 << WGM21) | (1 << COM2B0) | (1 << COM2B1);
+  // Prescaler of 32
+  TCCR2B =  (1 << CS21) | (1 << CS20); 
+  OCR2A = cycle-1; // Compare match value for 430 uS
   // Enable Timer2 output on pin 9 (OC2B)
   DDRB |= (1 << DDB1);
-  // TODO Fudge TCNT2 to sync with last tcnt1 tick + 28uS
 
+  // RailcomFudge2 is the expected time from idealised 
+  // setup call (at previous DCC timer interrupt) to the cutout. 
+  // This value should be reduced to reflect the Timer1 value
+  // measuring the time since the previous hardware interrupt
+  byte tcfudge=TCNT1/16; 
+  TCNT2=cycle-RailcomFudge0/2+tcfudge/2;
+
+  
  // Previous TIMER1 Tick was at rising end-of-packet bit
  // Cutout starts half way through first preamble
  // that is 2.5 * 58uS later.
- // TCNT1 ticks 8 times / microsecond
- // auto microsendsToFirstRailcomTick=(58+58+29)-(TCNT1/8);
-  // set the railcom timer counter allowing for phase-correct
-
-  // CHris's NOTE: 
-  // I dont kniow quite how this calculation works out but
-  // it does seems to get a good answer. 
-
-  TCNT2=193 + (ICR1 - TCNT1)/8;
-}
+  }
 
 void DCCTimer::ackRailcomTimer() {
-  OCR2B= 0x00;  // brake pin pwm duty cycle 0 at next tick
+  // Change Timer2 to CTC mode with RESET pin 9 on next compare match
+  TCCR2A = (1 << WGM21) | (1 << COM2B1);
+  // diagnostic digitalWrite(4,LOW);
 }
 
 
@@ -197,6 +190,8 @@ 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

@@ -78,11 +78,17 @@ int DCCTimer::freeMemory() {
 ////////////////////////////////////////////////////////////////////////
 #ifdef ARDUINO_ARCH_ESP32
 
+#if __has_include("esp_idf_version.h")
 #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"
+#endif
+#if ESP_IDF_VERSION_MAJOR == 4
+// all well correct IDF version
+#else
+#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
 
+// protect all the rest of the code from IDF version 5
+#if ESP_IDF_VERSION_MAJOR == 4
 #include "DIAG.h"
 #include <driver/adc.h>
 #include <soc/sens_reg.h>
@@ -197,7 +203,9 @@ void DCCTimer::DCCEXanalogWriteFrequencyInternal(uint8_t pin, uint32_t frequency
 }
 
 void DCCTimer::DCCEXledcDetachPin(uint8_t pin) {
-  DIAG(F("Clear pin %d channel"), pin);
+#ifdef DIAG_IO
+  DIAG(F("Clear pin %d from ledc channel"), pin);
+#endif
   pin_to_channel[pin] = 0;
   pinMatrixOutDetach(pin, false, false);
 }
@@ -322,6 +330,5 @@ void ADCee::scan() {
 
 void ADCee::begin() {
 }
-
+#endif //IDF v4
 #endif //ESP32
-

DCCTimerSTM32.cpp

@@ -208,7 +208,7 @@ void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
   dcctimer.setOverflow(DCC_SIGNAL_TIME, MICROSEC_FORMAT);
   // dcctimer.attachInterrupt(Timer11_Handler);
   dcctimer.attachInterrupt(DCCTimer_Handler);
-  dcctimer.setInterruptPriority(0, 0); // Set highest preemptive priority!
+  dcctimer.setInterruptPriority(1, 0); // Set second highest preemptive priority!
   dcctimer.refresh();
   dcctimer.resume();
 

DCCWaveform.cpp

@@ -24,14 +24,13 @@
 #ifndef ARDUINO_ARCH_ESP32
   // This code is replaced entirely on an ESP32
 #include <Arduino.h>
-
 #include "DCCWaveform.h"
 #include "TrackManager.h"
 #include "DCCTimer.h"
 #include "DCCACK.h"
 #include "DIAG.h"
 
-
+bool DCCWaveform::cutoutNextTime=false;
 DCCWaveform  DCCWaveform::mainTrack(PREAMBLE_BITS_MAIN, true);
 DCCWaveform  DCCWaveform::progTrack(PREAMBLE_BITS_PROG, false);
 
@@ -71,9 +70,18 @@ void DCCWaveform::loop() {
 
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
+
 void DCCWaveform::interruptHandler() {
   // call the timer edge sensitive actions for progtrack and maintrack
   // member functions would be cleaner but have more overhead
+  #if defined(HAS_ENOUGH_MEMORY)
+  if (cutoutNextTime) {
+    cutoutNextTime=false;
+    railcomSampleWindow=false; // about to cutout, stop reading railcom data.
+    railcomCutoutCounter++;
+    DCCTimer::startRailcomTimer(9);
+  }
+  #endif
   byte sigMain=signalTransform[mainTrack.state];
   byte sigProg=TrackManager::progTrackSyncMain? sigMain : signalTransform[progTrack.state];
   
@@ -115,19 +123,24 @@ DCCWaveform::DCCWaveform( byte preambleBits, bool isMain) {
   bytes_sent = 0;
   bits_sent = 0;
 }
-    
+
+bool DCCWaveform::railcomPossible=false;     // High accuracy only    
 volatile bool DCCWaveform::railcomActive=false;     // switched on by user
 volatile bool DCCWaveform::railcomDebug=false;     // switched on by user
+volatile bool DCCWaveform::railcomSampleWindow=false; // true during packet transmit
+volatile byte DCCWaveform::railcomCutoutCounter=0;    // cyclic cutout
+volatile byte DCCWaveform::railcomLastAddressHigh=0;
+volatile byte DCCWaveform::railcomLastAddressLow=0;
 
 bool DCCWaveform::setRailcom(bool on, bool debug) {
-  if (on) {
-    // TODO check possible
+  if (on && railcomPossible) {
     railcomActive=true;
     railcomDebug=debug;
   }
   else {
     railcomActive=false;
     railcomDebug=false;
+    railcomSampleWindow=false;
   } 
   return railcomActive;
 }
@@ -140,14 +153,37 @@ void DCCWaveform::interrupt2() {
   //        or WAVE_HIGH_0 for a 0 bit.
   if (remainingPreambles > 0 ) {
     state=WAVE_MID_1;  // switch state to trigger LOW on next interrupt
+    
     remainingPreambles--;
   
     // As we get to the end of the preambles, open the reminder window.
     // This delays any reminder insertion until the last moment so
     // that the reminder doesn't block a more urgent packet. 
-    reminderWindowOpen=transmitRepeats==0 && remainingPreambles<4 && remainingPreambles>1;
-    if (remainingPreambles==1) promotePendingPacket();
-    else if (remainingPreambles==10 && isMainTrack && railcomActive) DCCTimer::ackRailcomTimer();
+    reminderWindowOpen=transmitRepeats==0 && remainingPreambles<12 && remainingPreambles>1;
+    if (remainingPreambles==1)
+      promotePendingPacket();
+
+#if defined(HAS_ENOUGH_MEMORY)   
+    else if (isMainTrack && railcomActive) {
+      if (remainingPreambles==(requiredPreambles-1)) {
+        // First look if we need to start a railcom cutout on next interrupt
+        cutoutNextTime= true;
+      } else if (remainingPreambles==(requiredPreambles-12)) {
+        // cutout has ended so its now possible to poll the railcom detectors
+        // requiredPreambles is one higher that preamble length so
+        // if preamble length is 16 then this evaluates to 5
+        // Remember address bytes of last sent packet so that Railcom can
+        // work out where the channel2 data came from.
+        railcomLastAddressHigh=transmitPacket[0];
+        railcomLastAddressLow =transmitPacket[1];
+        railcomSampleWindow=true;
+      } else if (remainingPreambles==(requiredPreambles-3)) {
+        // cutout can be ended when read
+        // see above for requiredPreambles
+        DCCTimer::ackRailcomTimer();
+      }
+    }
+#endif    
     // Update free memory diagnostic as we don't have anything else to do this time.
     // Allow for checkAck and its called functions using 22 bytes more.
     else DCCTimer::updateMinimumFreeMemoryISR(22); 
@@ -171,13 +207,7 @@ void DCCWaveform::interrupt2() {
       bytes_sent = 0;
       // preamble for next packet will start...
       remainingPreambles = requiredPreambles;
-      
-      // set the railcom coundown to trigger half way 
-      // through the first preamble bit.
-      // Note.. we are still sending the last packet bit
-      //    and we then have to allow for the packet end bit
-      if (isMainTrack && railcomActive) DCCTimer::startRailcomTimer(9);
-      }
+    }
   }  
 }
 #pragma GCC pop_options
@@ -212,7 +242,7 @@ void DCCWaveform::promotePendingPacket() {
         transmitRepeats--;
         return;
       }
-
+    
     if (packetPending) {
         // Copy pending packet to transmit packet
         // a fixed length memcpy is faster than a variable length loop for these small lengths
@@ -230,7 +260,7 @@ void DCCWaveform::promotePendingPacket() {
       // Fortunately reset and idle packets are the same length
       // Note: If railcomDebug is on, then we send resets to the main
       //       track instead of idles. This means that all data will be zeros
-      //       and only the porersets will be ones, making it much
+      //       and only the presets will be ones, making it much
       //       easier to read on a logic analyser.
       memcpy( transmitPacket, (isMainTrack && (!railcomDebug)) ? idlePacket : resetPacket, sizeof(idlePacket));
       transmitLength = sizeof(idlePacket);
@@ -238,93 +268,3 @@ void DCCWaveform::promotePendingPacket() {
       if (getResets() < 250) sentResetsSincePacket++; // only place to increment (private!)
 }
 #endif
-
-#ifdef ARDUINO_ARCH_ESP32
-#include "DCCWaveform.h"
-#include "DCCACK.h"
-
-DCCWaveform  DCCWaveform::mainTrack(PREAMBLE_BITS_MAIN, true);
-DCCWaveform  DCCWaveform::progTrack(PREAMBLE_BITS_PROG, false);
-RMTChannel *DCCWaveform::rmtMainChannel = NULL;
-RMTChannel *DCCWaveform::rmtProgChannel = NULL;
-
-DCCWaveform::DCCWaveform(byte preambleBits, bool isMain) {
-  isMainTrack = isMain;
-  requiredPreambles = preambleBits;
-}
-void DCCWaveform::begin() {
-  for(const auto& md: TrackManager::getMainDrivers()) {
-    pinpair p = md->getSignalPin();
-    if(rmtMainChannel) {
-      //DIAG(F("added pins %d %d to MAIN channel"), p.pin, p.invpin);
-      rmtMainChannel->addPin(p); // add pin to existing main channel
-    } else {
-      //DIAG(F("new MAIN channel with pins %d %d"), p.pin, p.invpin);
-      rmtMainChannel = new RMTChannel(p, true); /* create new main channel */
-    }
-  }
-  MotorDriver *md = TrackManager::getProgDriver();
-  if (md) {
-    pinpair p = md->getSignalPin();
-    if (rmtProgChannel) {
-      //DIAG(F("added pins %d %d to PROG channel"), p.pin, p.invpin);
-      rmtProgChannel->addPin(p); // add pin to existing prog channel
-    } else {
-      //DIAG(F("new PROGchannel with pins %d %d"), p.pin, p.invpin);
-      rmtProgChannel = new RMTChannel(p, false);
-    }
-  }
-}
-
-void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repeats) {
-  if (byteCount > MAX_PACKET_SIZE) return; // allow for chksum
-  
-  byte checksum = 0;
-  for (byte b = 0; b < byteCount; b++) {
-    checksum ^= buffer[b];
-    pendingPacket[b] = buffer[b];
-  }
-  // buffer is MAX_PACKET_SIZE but pendingPacket is one bigger
-  pendingPacket[byteCount] = checksum;
-  pendingLength = byteCount + 1;
-  pendingRepeats = repeats;
-// DIAG repeated commands (accesories)
-//  if (pendingRepeats > 0)
-//    DIAG(F("Repeats=%d on %s track"), pendingRepeats, isMainTrack ? "MAIN" : "PROG");
-  // The resets will be zero not only now but as well repeats packets into the future
-  clearResets(repeats+1);
-  {
-    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);
-      }
-    } while(ret > 0);
-  }
-}
-
-bool DCCWaveform::isReminderWindowOpen() {
-  if(isMainTrack) {
-    if (rmtMainChannel == NULL)
-      return false;
-    return !rmtMainChannel->busy();
-  } else {
-    if (rmtProgChannel == NULL)
-      return false;
-    return !rmtProgChannel->busy();
-  }
-}
-void IRAM_ATTR DCCWaveform::loop() {
-  DCCACK::checkAck(progTrack.getResets());
-}
-
-bool DCCWaveform::setRailcom(bool on, bool debug) {
-  // TODO... ESP32 railcom waveform
-  return false;
-}
-
-#endif

DCCWaveform.h

@@ -3,7 +3,7 @@
  *  © 2021 Mike S
  *  © 2021 Fred Decker
  *  © 2020-2024 Harald Barth
- *  © 2020-2021 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
@@ -23,11 +23,8 @@
  */
 #ifndef DCCWaveform_h
 #define DCCWaveform_h
-
-#include "MotorDriver.h"
 #ifdef ARDUINO_ARCH_ESP32
 #include "DCCRMT.h"
-#include "TrackManager.h"
 #endif
 
 
@@ -86,8 +83,30 @@ class DCCWaveform {
     bool isReminderWindowOpen();
     void promotePendingPacket();
     static bool setRailcom(bool on, bool debug);
-    static bool isRailcom() {return railcomActive;}
-    
+    inline static bool isRailcom() {
+      return railcomActive;
+    };
+    inline static byte getRailcomCutoutCounter() {
+      return railcomCutoutCounter;
+    };
+    inline static bool isRailcomSampleWindow() {
+      return railcomSampleWindow;
+    };
+    inline static bool isRailcomPossible() {
+      return railcomPossible;
+    };
+    inline static void setRailcomPossible(bool yes) {
+      railcomPossible=yes;
+      if (!yes) setRailcom(false,false);
+    };
+    inline static uint16_t getRailcomLastLocoAddress() {
+      // first 2 bits 00=short loco, 11=long loco , 01/10 = accessory
+      byte addressType=railcomLastAddressHigh & 0xC0;
+      if (addressType==0xC0) return ((railcomLastAddressHigh & 0x3f)<<8) | railcomLastAddressLow;
+      if (addressType==0x00) return railcomLastAddressHigh & 0x3F;
+      return 0; 
+    }
+
   private:
 #ifndef ARDUINO_ARCH_ESP32
     volatile bool packetPending;
@@ -112,9 +131,13 @@ class DCCWaveform {
     byte pendingPacket[MAX_PACKET_SIZE+1]; // +1 for checksum
     byte pendingLength;
     byte pendingRepeats;
+    static bool railcomPossible; // High accuracy mode only
     static volatile bool railcomActive;     // switched on by user
     static volatile bool railcomDebug;     // switched on by user
-    
+    static volatile bool railcomSampleWindow; // when safe to sample
+    static volatile byte railcomCutoutCounter; // incremented for each cutout
+    static volatile byte railcomLastAddressHigh,railcomLastAddressLow;
+    static bool cutoutNextTime;   // railcom
 #ifdef ARDUINO_ARCH_ESP32
   static RMTChannel *rmtMainChannel;
   static RMTChannel *rmtProgChannel;

DCCWaveformRMT.cpp

@@ -0,0 +1,120 @@
+/*
+ *  © 2021 Neil McKechnie
+ *  © 2021 Mike S
+ *  © 2021 Fred Decker
+ *  © 2020-2022 Harald Barth
+ *  © 2020-2021 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+// This code is ESP32 ONLY.  
+#ifdef ARDUINO_ARCH_ESP32
+#include "DCCWaveform.h"
+#include "DCCACK.h"
+#include "TrackManager.h"
+
+DCCWaveform  DCCWaveform::mainTrack(PREAMBLE_BITS_MAIN, true);
+DCCWaveform  DCCWaveform::progTrack(PREAMBLE_BITS_PROG, false);
+RMTChannel *DCCWaveform::rmtMainChannel = NULL;
+RMTChannel *DCCWaveform::rmtProgChannel = NULL;
+
+bool DCCWaveform::railcomPossible=false;     // High accuracy only    
+volatile bool DCCWaveform::railcomActive=false;     // switched on by user
+volatile bool DCCWaveform::railcomDebug=false;     // switched on by user
+volatile bool DCCWaveform::railcomSampleWindow=false; // true during packet transmit
+volatile byte DCCWaveform::railcomCutoutCounter=0;    // cyclic cutout
+volatile byte DCCWaveform::railcomLastAddressHigh=0;
+volatile byte DCCWaveform::railcomLastAddressLow=0;
+
+DCCWaveform::DCCWaveform(byte preambleBits, bool isMain) {
+  isMainTrack = isMain;
+  requiredPreambles = preambleBits;
+}
+void DCCWaveform::begin() {
+  for(const auto& md: TrackManager::getMainDrivers()) {
+    pinpair p = md->getSignalPin();
+    if(rmtMainChannel) {
+      //DIAG(F("added pins %d %d to MAIN channel"), p.pin, p.invpin);
+      rmtMainChannel->addPin(p); // add pin to existing main channel
+    } else {
+      //DIAG(F("new MAIN channel with pins %d %d"), p.pin, p.invpin);
+      rmtMainChannel = new RMTChannel(p, true); /* create new main channel */
+    }
+  }
+  MotorDriver *md = TrackManager::getProgDriver();
+  if (md) {
+    pinpair p = md->getSignalPin();
+    if (rmtProgChannel) {
+      //DIAG(F("added pins %d %d to PROG channel"), p.pin, p.invpin);
+      rmtProgChannel->addPin(p); // add pin to existing prog channel
+    } else {
+      //DIAG(F("new PROGchannel with pins %d %d"), p.pin, p.invpin);
+      rmtProgChannel = new RMTChannel(p, false);
+    }
+  }
+}
+
+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];
+    pendingPacket[b] = buffer[b];
+  }
+  // buffer is MAX_PACKET_SIZE but pendingPacket is one bigger
+  pendingPacket[byteCount] = checksum;
+  pendingLength = byteCount + 1;
+  pendingRepeats = repeats;
+// DIAG repeated commands (accesories)
+//  if (pendingRepeats > 0)
+//    DIAG(F("Repeats=%d on %s track"), pendingRepeats, isMainTrack ? "MAIN" : "PROG");
+  // The resets will be zero not only now but as well repeats packets into the future
+  clearResets(repeats+1);
+  {
+    int ret = 0;
+    do {
+      ret = rmtchannel->RMTfillData(pendingPacket, pendingLength, pendingRepeats);
+    } while(ret > 0);
+  }
+}
+
+bool DCCWaveform::isReminderWindowOpen() {
+  if(isMainTrack) {
+    if (rmtMainChannel == NULL)
+      return false;
+    return !rmtMainChannel->busy();
+  } else {
+    if (rmtProgChannel == NULL)
+      return false;
+    return !rmtProgChannel->busy();
+  }
+}
+void IRAM_ATTR DCCWaveform::loop() {
+  DCCACK::checkAck(progTrack.getResets());
+}
+
+bool DCCWaveform::setRailcom(bool on, bool debug) {
+  // TODO... ESP32 railcom waveform
+  return false;
+}
+
+#endif

Display.cpp

@@ -188,6 +188,7 @@ Display *Display::loop2(bool force) {
 #endif
           noMoreRowsToDisplay = false;
           slot = 0;
+          _deviceDriver->setRowNative(slot);  // Set position for display
           lastScrollTime = currentMillis;
           return NULL;
         }

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
 

EXRAIL2.cpp

@@ -2,8 +2,9 @@
  *  © 2024 Paul M. Antoine
  *  © 2021 Neil McKechnie
  *  © 2021-2023 Harald Barth
- *  © 2020-2023 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  © 2022-2023 Colin Murdoch
+ *  © 2025 Morten Nielsen
  *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
@@ -56,6 +57,7 @@
 #include "Turntables.h"
 #include "IODevice.h"
 #include "EXRAILSensor.h"
+#include "Stash.h"
 
 
 // One instance of RMFT clas is used for each "thread" in the automation.
@@ -87,10 +89,15 @@ LookList *  RMFT2::onClockLookup=NULL;
 LookList *  RMFT2::onRotateLookup=NULL;
 #endif
 LookList *  RMFT2::onOverloadLookup=NULL;
+LookList *  RMFT2::onBlockEnterLookup=NULL;
+LookList *  RMFT2::onBlockExitLookup=NULL;
+#ifdef BOOSTER_INPUT
+LookList *  RMFT2::onRailSyncOnLookup=NULL;
+LookList *  RMFT2::onRailSyncOffLookup=NULL;
+#endif
 byte * RMFT2::routeStateArray=nullptr; 
 const FSH  * * RMFT2::routeCaptionArray=nullptr; 
-int16_t * RMFT2::stashArray=nullptr;
-int16_t RMFT2::maxStashId=0;
+
 
 // getOperand instance version, uses progCounter from instance.
 uint16_t RMFT2::getOperand(byte n) {
@@ -131,11 +138,11 @@ int16_t LookList::find(int16_t value) {
 void LookList::chain(LookList * chain) {
   m_chain=chain;
 }
-void LookList::handleEvent(const FSH* reason,int16_t id) {
+void LookList::handleEvent(const FSH* reason,int16_t id, int16_t loco) {
   // New feature... create multiple ONhandlers
   for (int i=0;i<m_size;i++) 
     if (m_lookupArray[i]==id)
-       RMFT2::startNonRecursiveTask(reason,id,m_resultArray[i]);
+       RMFT2::startNonRecursiveTask(reason,id,m_resultArray[i],loco);
 }
 
 
@@ -203,6 +210,16 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
   onRotateLookup=LookListLoader(OPCODE_ONROTATE);
 #endif
   onOverloadLookup=LookListLoader(OPCODE_ONOVERLOAD);
+
+  if (compileFeatures & FEATURE_BLOCK) {
+    onBlockEnterLookup=LookListLoader(OPCODE_ONBLOCKENTER);
+    onBlockExitLookup=LookListLoader(OPCODE_ONBLOCKEXIT);
+  }
+#ifdef BOOSTER_INPUT
+  onRailSyncOnLookup=LookListLoader(OPCODE_ONRAILSYNCON);
+  onRailSyncOffLookup=LookListLoader(OPCODE_ONRAILSYNCOFF);
+#endif
+
   // onLCCLookup is not the same so not loaded here. 
 
   // Second pass startup, define any turnouts or servos, set signals red
@@ -249,17 +266,13 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
       IODevice::configureInput((VPIN)pin,true);
       break;
     }
-    case OPCODE_STASH:
-    case OPCODE_CLEAR_STASH:
-    case OPCODE_PICKUP_STASH: {
-      maxStashId=max(maxStashId,((int16_t)operand));
-      break;
-    }
-
+    
     case OPCODE_ATGTE:
     case OPCODE_ATLT:
     case OPCODE_IFGTE:
     case OPCODE_IFLT:
+    case OPCODE_IFBITMAP_ALL:
+    case OPCODE_IFBITMAP_ANY:
     case OPCODE_DRIVE: {
       DIAG(F("EXRAIL analog input VPIN %u"),(VPIN)operand);
       IODevice::configureAnalogIn((VPIN)operand);
@@ -270,6 +283,10 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
       if (compileFeatures & FEATURE_SENSOR) 
         new EXRAILSensor(operand,progCounter+3,true );
       break;
+    case OPCODE_ONBITMAP:
+      if (compileFeatures & FEATURE_SENSOR) 
+        new EXRAILSensor(operand,progCounter+3,true, true );
+      break;
     case OPCODE_ONBUTTON:
       if (compileFeatures & FEATURE_SENSOR) 
         new EXRAILSensor(operand,progCounter+3,false );
@@ -312,7 +329,7 @@ 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);
@@ -343,13 +360,7 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
   }
   SKIPOP; // include ENDROUTES opcode
   
-  if (compileFeatures & FEATURE_STASH) {
-    // create the stash array from the highest id found
-    if (maxStashId>0) stashArray=(int16_t*)calloc(maxStashId+1, sizeof(int16_t));
-     //TODO check EEPROM and fetch stashArray
-  }
-  
-  DIAG(F("EXRAIL %db, fl=%d, stash=%d"),progCounter,MAX_FLAGS, maxStashId);
+  DIAG(F("EXRAIL %db, fl=%d"),progCounter,MAX_FLAGS);
 
   // Removed for 4.2.31  new RMFT2(0); // add the startup route
   diag=saved_diag;
@@ -379,7 +390,7 @@ char RMFT2::getRouteType(int16_t id) {
 }
 
 
-RMFT2::RMFT2(int progCtr) {
+RMFT2::RMFT2(int progCtr, int16_t _loco) {
   progCounter=progCtr;
 
   // get an unused  task id from the flags table
@@ -392,9 +403,7 @@ RMFT2::RMFT2(int progCtr) {
     }
   }
   delayTime=0;
-  loco=0;
-  speedo=0;
-  forward=true;
+  loco=_loco;
   invert=false;
   blinkState=not_blink_task;
   stackDepth=0;
@@ -412,7 +421,10 @@ RMFT2::RMFT2(int progCtr) {
 
 
 RMFT2::~RMFT2() {
-  driveLoco(1); // ESTOP my loco if any
+  // estop my loco if this is not an ONevent 
+  // (prevents DONE stopping loco at the end of an
+  //   ONBLOCKENTER or ONBLOCKEXIT )
+  if (loco>0 && this->onEventStartPosition==-1) DCC::setThrottle(loco,1,DCC::getThrottleDirection(loco));
   setFlag(taskId,0,TASK_FLAG); // we are no longer using this id
   if (next==this)
     loopTask=NULL;
@@ -428,23 +440,9 @@ RMFT2::~RMFT2() {
 void RMFT2::createNewTask(int route, uint16_t cab) {
       int pc=routeLookup->find(route);
       if (pc<0) return;
-      RMFT2* task=new RMFT2(pc);
-      task->loco=cab;
+      new RMFT2(pc,cab);
 }
 
-void RMFT2::driveLoco(byte speed) {
-  if (loco<=0) return;  // Prevent broadcast!
-  //if (diag) DIAG(F("EXRAIL drive %d %d %d"),loco,speed,forward^invert);
- /* TODO.....
- power on appropriate track if DC or main if dcc
-  if (TrackManager::getMainPowerMode()==POWERMODE::OFF) {
-    TrackManager::setMainPower(POWERMODE::ON);
-  }
-  **********/
-
-  DCC::setThrottle(loco,speed, forward^invert);
-  speedo=speed;
-}
 
 bool RMFT2::readSensor(uint16_t sensorId) {
   // Exrail operands are unsigned but we need the signed version as inserted by the macros.
@@ -499,7 +497,7 @@ bool RMFT2::skipIfBlock() {
   if (cv & LONG_ADDR_MARKER) {               // maker bit indicates long addr
     progtrackLocoId = cv ^ LONG_ADDR_MARKER; // remove marker bit to get real long addr
     if (progtrackLocoId <= HIGHEST_SHORT_ADDR ) {     // out of range for long addr
-      DIAG(F("Long addr %d <= %d unsupported"), progtrackLocoId, HIGHEST_SHORT_ADDR);
+      DIAG(F("Long addr %d <= %d unsupported\n"), progtrackLocoId, HIGHEST_SHORT_ADDR);
       progtrackLocoId = -1;
     }
   } else {
@@ -507,6 +505,15 @@ bool RMFT2::skipIfBlock() {
   }
 }
 
+void RMFT2::pause() {
+  if (loco)
+    pauseSpeed=DCC::getThrottleSpeedByte(loco);
+}
+void RMFT2::resume() {
+  if (loco)
+    DCC::setThrottle(loco,pauseSpeed & 0x7f, pauseSpeed & 0x80);
+}
+
 void RMFT2::loop() {
   if (compileFeatures & FEATURE_SENSOR) 
       EXRAILSensor::checkAll();
@@ -571,18 +578,23 @@ void RMFT2::loop2() {
 #endif
 
   case OPCODE_REV:
-    forward = false;
-    driveLoco(operand);
+    if (loco) DCC::setThrottle(loco,operand,invert);
     break;
     
   case OPCODE_FWD:
-      forward = true;
-      driveLoco(operand);
-      break;
+    if (loco) DCC::setThrottle(loco,operand,!invert);
+    break;
       
   case OPCODE_SPEED:
-    forward=DCC::getThrottleDirection(loco)^invert;
-    driveLoco(operand);
+    if (loco) DCC::setThrottle(loco,operand,DCC::getThrottleDirection(loco));
+    break;
+  
+  case OPCODE_MOMENTUM:
+    DCC::setMomentum(loco,operand,getOperand(1));
+    break;
+    
+  case OPCODE_ESTOPALL:
+    DCC::setThrottle(0,1,1); // all locos speed=1
     break;
     
   case OPCODE_FORGET:
@@ -594,12 +606,11 @@ void RMFT2::loop2() {
 
   case OPCODE_INVERT_DIRECTION:
     invert= !invert;
-    driveLoco(speedo);
     break;
     
   case OPCODE_RESERVE:
     if (getFlag(operand,SECTION_FLAG)) {
-      driveLoco(0);
+      if (loco) DCC::setThrottle(loco,1,DCC::getThrottleDirection(loco));
       delayMe(500);
       return;
     }
@@ -677,13 +688,14 @@ 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: 
@@ -697,7 +709,7 @@ void RMFT2::loop2() {
      break; 
 
   case OPCODE_PAUSE:
-    DCC::setThrottle(0,1,true);  // pause all locos on the track
+    DCC::estopAll();  // pause all locos on the track
     pausingTask=this;
     break;
 
@@ -705,6 +717,10 @@ void RMFT2::loop2() {
     if (loco) DCC::writeCVByteMain(loco, operand, getOperand(1));
     break;
 
+  case OPCODE_XPOM:
+    DCC::writeCVByteMain(operand, getOperand(1), getOperand(2));
+    break;
+
   case OPCODE_POWEROFF:
     TrackManager::setPower(POWERMODE::OFF);
     TrackManager::setJoin(false);
@@ -741,8 +757,8 @@ void RMFT2::loop2() {
 
   case OPCODE_RESUME:
     pausingTask=NULL;
-    driveLoco(speedo);
-    for (RMFT2 * t=next; t!=this;t=t->next) if (t->loco >0) t->driveLoco(t->speedo);
+    resume();
+    for (RMFT2 * t=next; t!=this;t=t->next) t->resume();
     break;
     
   case OPCODE_IF: // do next operand if sensor set
@@ -760,6 +776,14 @@ void RMFT2::loop2() {
   case OPCODE_IFLT: // do next operand if sensor< value
     skipIf=IODevice::readAnalogue(operand)>=(int)(getOperand(1));
     break;
+  
+  case OPCODE_IFBITMAP_ALL: // do next operand if sensor & mask == mask
+    skipIf=(IODevice::readAnalogue(operand) & getOperand(1)) != getOperand(1);
+    break;
+  
+  case OPCODE_IFBITMAP_ANY: // do next operand if sensor & mask !=0
+    skipIf=(IODevice::readAnalogue(operand) & getOperand(1)) == 0;
+    break;
     
   case OPCODE_IFLOCO: // do if the loco is the active one
     skipIf=loco!=(uint16_t)operand; // bad luck if someone enters negative loco numbers into EXRAIL
@@ -801,6 +825,10 @@ void RMFT2::loop2() {
   case OPCODE_IFCLOSED:
     skipIf=Turnout::isThrown(operand);
     break;
+    
+  case OPCODE_IFSTASH:
+    skipIf=Stash::get(operand)==0;
+    break;
 
 #ifndef IO_NO_HAL
   case OPCODE_IFTTPOSITION: // do block if turntable at this position
@@ -853,8 +881,7 @@ void RMFT2::loop2() {
     
   case OPCODE_DRIVE:
     {
-      byte analogSpeed=IODevice::readAnalogue(operand) *127 / 1024;
-      if (speedo!=analogSpeed) driveLoco(analogSpeed);
+      // Non functional but reserved 
       break;
     }
     
@@ -870,6 +897,14 @@ 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;
@@ -921,8 +956,9 @@ void RMFT2::loop2() {
 
 #ifndef DISABLE_PROG
   case OPCODE_JOIN:
-    TrackManager::setPower(POWERMODE::ON);
     TrackManager::setJoin(true);
+    TrackManager::setMainPower(POWERMODE::ON);
+    TrackManager::setProgPower(POWERMODE::ON);
     break;
 
   case OPCODE_UNJOIN:
@@ -944,8 +980,6 @@ void RMFT2::loop2() {
     // which is intended so it can be checked
     // from within EXRAIL
     loco=progtrackLocoId;
-    speedo=0;
-    forward=true;
     invert=false;
     break;
 #endif
@@ -967,16 +1001,13 @@ void RMFT2::loop2() {
     {
       int newPc=routeLookup->find(getOperand(1));
       if (newPc<0) break;
-      RMFT2* newtask=new RMFT2(newPc); // create new task
-      newtask->loco=operand;
+      new RMFT2(newPc,operand); // create new task
     }
     break;
     
   case OPCODE_SETLOCO:
     {
       loco=operand;
-      speedo=0;
-      forward=true;
       invert=false;
     }
     break;
@@ -1051,30 +1082,32 @@ void RMFT2::loop2() {
     break;   
 
   case OPCODE_STASH:
-    if (compileFeatures & FEATURE_STASH) 
-      stashArray[operand] = invert? -loco : loco;
+    Stash::set(operand,invert? -loco : loco);
     break; 
 
   case OPCODE_CLEAR_STASH:
-    if (compileFeatures & FEATURE_STASH) 
-      stashArray[operand] = 0;
+    Stash::clear(operand);
     break; 
        
   case OPCODE_CLEAR_ALL_STASH:
-    if (compileFeatures & FEATURE_STASH) 
-      for (int i=0;i<=maxStashId;i++) stashArray[operand]=0;
+    Stash::clearAll();
+    break;
+
+  case OPCODE_CLEAR_ANY_STASH:
+    if (loco) Stash::clearAny(loco);
     break;
 
   case OPCODE_PICKUP_STASH:
-    if (compileFeatures & FEATURE_STASH) {
-      int16_t x=stashArray[operand];
-      if (x>=0) {
-        loco=x;
-        invert=false;
-        break;
-      }
-      loco=-x;
-      invert=true;
+      {
+        auto x=Stash::get(operand);
+        if (x>=0) {
+          loco=x;
+          invert=false;
+        }
+        else {
+          loco=-x;
+          invert=true;    
+        }
     }
     break;
   
@@ -1083,7 +1116,27 @@ void RMFT2::loop2() {
   case OPCODE_SEQUENCE:
     //if (diag) DIAG(F("EXRAIL begin(%d)"),operand);
     break;
-    
+  
+  case OPCODE_BITMAP_INC:
+    IODevice::writeAnalogue(operand,IODevice::readAnalogue(operand)+1);
+    break;
+  case OPCODE_BITMAP_DEC:
+     { int newval=IODevice::readAnalogue(operand)-1;
+       if (newval<0) newval=0;
+       IODevice::writeAnalogue(operand,newval);
+     }
+    break;
+  
+  case OPCODE_BITMAP_AND:
+    IODevice::writeAnalogue(operand,IODevice::readAnalogue(operand) & getOperand(1));
+    break;
+  case OPCODE_BITMAP_OR:
+    IODevice::writeAnalogue(operand,IODevice::readAnalogue(operand) | getOperand(1));
+    break;
+  case OPCODE_BITMAP_XOR:
+    IODevice::writeAnalogue(operand,IODevice::readAnalogue(operand) ^ getOperand(1));
+    break;
+  
   case OPCODE_AUTOSTART: // Handled only during begin process
   case OPCODE_PAD: // Just a padding for previous opcode needing >1 operand byte.
   case OPCODE_TURNOUT: // Turnout definition ignored at runtime
@@ -1103,6 +1156,7 @@ void RMFT2::loop2() {
   case OPCODE_ONTIME:
   case OPCODE_ONBUTTON:
   case OPCODE_ONSENSOR:
+  case OPCODE_ONBITMAP:
 #ifndef IO_NO_HAL
   case OPCODE_DCCTURNTABLE: // Turntable definition ignored at runtime
   case OPCODE_EXTTTURNTABLE:  // Turntable definition ignored at runtime
@@ -1110,7 +1164,12 @@ void RMFT2::loop2() {
   case OPCODE_ONROTATE:
 #endif
   case OPCODE_ONOVERLOAD:
-  
+  case OPCODE_ONBLOCKENTER:
+  case OPCODE_ONBLOCKEXIT:
+#ifdef BOOSTER_INPUT
+  case OPCODE_ONRAILSYNCON:
+  case OPCODE_ONRAILSYNCOFF:
+#endif
     break;
     
   default:
@@ -1302,6 +1361,14 @@ void RMFT2::activateEvent(int16_t addr, bool activate) {
   else onDeactivateLookup->handleEvent(F("DEACTIVATE"),addr);
 }
 
+void RMFT2::blockEvent(int16_t block, int16_t loco, bool entering) {
+  if (compileFeatures & FEATURE_BLOCK) {
+  // Hunt for an ONBLOCKENTER/ONBLOCKEXIT for this accessory
+  if (entering)  onBlockEnterLookup->handleEvent(F("BLOCKENTER"),block,loco);
+  else onBlockExitLookup->handleEvent(F("BLOCKEXIT"),block,loco);
+  }
+}
+
 void RMFT2::changeEvent(int16_t vpin, bool change) {
   // Hunt for an ONCHANGE for this sensor
   if (change)  onChangeLookup->handleEvent(F("CHANGE"),vpin);
@@ -1327,12 +1394,24 @@ 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);
   }
 }
-
+#ifdef BOOSTER_INPUT
+void RMFT2::railsyncEvent(bool on) {
+  if (Diag::CMD)
+   DIAG(F("railsyncEvent : %d"), on);
+  if (on) {
+    if (onRailSyncOnLookup)
+      onRailSyncOnLookup->handleEvent(F("RAILSYNCON"), 0);
+  } else {
+    if (onRailSyncOffLookup)
+      onRailSyncOffLookup->handleEvent(F("RAILSYNCOFF"), 0);
+  }
+}
+#endif
 // This function is used when setting pins so that a SET or RESET
 // will cause any blink task on that pin to terminate.
 // It will be compiled out of existence if no BLINK feature is used.
@@ -1357,11 +1436,11 @@ void RMFT2::killBlinkOnVpin(VPIN pin, uint16_t count) {
   }
 }
   
-void RMFT2::startNonRecursiveTask(const FSH* reason, int16_t id,int pc) {  
+void RMFT2::startNonRecursiveTask(const FSH* reason, int16_t id,int pc, uint16_t loco) {  
   // Check we dont already have a task running this handler
   RMFT2 * task=loopTask;
   while(task) {
-    if (task->onEventStartPosition==pc) {
+    if (task->onEventStartPosition==pc && task->loco==loco) {
       DIAG(F("Recursive ON%S(%d)"),reason, id);
       return;
     }
@@ -1369,7 +1448,7 @@ void RMFT2::startNonRecursiveTask(const FSH* reason, int16_t id,int pc) {
     if (task==loopTask) break;
   }
   
-  task=new RMFT2(pc);  // new task starts at this instruction
+  task=new RMFT2(pc,loco);  // new task starts at this instruction
   task->onEventStartPosition=pc; // flag for recursion detector
 }
 
@@ -1478,7 +1557,7 @@ void RMFT2::thrungeString(uint32_t strfar, thrunger mode, byte id) {
     }
 }
 
-void RMFT2::manageRouteState(uint16_t id, byte state) {
+void RMFT2::manageRouteState(int16_t id, byte state) {
   if (compileFeatures && FEATURE_ROUTESTATE) {
     // Route state must be maintained for when new throttles connect.
     // locate route id in the Routes lookup
@@ -1490,7 +1569,7 @@ void RMFT2::manageRouteState(uint16_t id, byte state) {
     CommandDistributor::broadcastRouteState(id,state);
   }
 }
-void RMFT2::manageRouteCaption(uint16_t id,const FSH* caption) {
+void RMFT2::manageRouteCaption(int16_t id,const FSH* caption) {
   if (compileFeatures && FEATURE_ROUTESTATE) {
     // Route state must be maintained for when new throttles connect.
     // locate route id in the Routes lookup

EXRAIL2.h

@@ -1,8 +1,9 @@
 /*
  *  © 2021 Neil McKechnie
- *  © 2020-2022 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  © 2022-2023 Colin Murdoch
  *  © 2023 Harald Barth
+ *  © 2025 Morten Nielsen
  *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
@@ -35,6 +36,7 @@
 // 
 enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,OPCODE_TOGGLE_TURNOUT,
              OPCODE_FWD,OPCODE_REV,OPCODE_SPEED,OPCODE_INVERT_DIRECTION,
+             OPCODE_MOMENTUM,
              OPCODE_RESERVE,OPCODE_FREE,
              OPCODE_AT,OPCODE_AFTER,
              OPCODE_AFTEROVERLOAD,OPCODE_AUTOSTART,
@@ -45,7 +47,7 @@ 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,
@@ -72,12 +74,17 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,OPCODE_TOGGLE_TURNOUT,
              OPCODE_ACON, OPCODE_ACOF, 
              OPCODE_ONACON, OPCODE_ONACOF, 
              OPCODE_ONOVERLOAD,
+	     OPCODE_ONRAILSYNCON,OPCODE_ONRAILSYNCOFF,
              OPCODE_ROUTE_ACTIVE,OPCODE_ROUTE_INACTIVE,OPCODE_ROUTE_HIDDEN,
              OPCODE_ROUTE_DISABLED,
              OPCODE_STASH,OPCODE_CLEAR_STASH,OPCODE_CLEAR_ALL_STASH,OPCODE_PICKUP_STASH,
-             OPCODE_ONBUTTON,OPCODE_ONSENSOR,             
+             OPCODE_CLEAR_ANY_STASH,
+             OPCODE_ONBUTTON,OPCODE_ONSENSOR,OPCODE_ONVP_SENSOR,
              OPCODE_NEOPIXEL,
-             // OPcodes below this point are skip-nesting IF operations
+             OPCODE_ONBLOCKENTER,OPCODE_ONBLOCKEXIT,
+             OPCODE_ESTOPALL,OPCODE_XPOM,
+             OPCODE_BITMAP_AND,OPCODE_BITMAP_OR,OPCODE_BITMAP_XOR,OPCODE_BITMAP_INC,OPCODE_BITMAP_DEC,OPCODE_ONBITMAP,
+              // OPcodes below this point are skip-nesting IF operations
              // placed here so that they may be skipped as a group
              // see skipIfBlock()
             IF_TYPE_OPCODES, // do not move this... 
@@ -89,7 +96,9 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,OPCODE_TOGGLE_TURNOUT,
              OPCODE_IFCLOSED,OPCODE_IFTHROWN,
              OPCODE_IFRE,
              OPCODE_IFLOCO,
-             OPCODE_IFTTPOSITION
+             OPCODE_IFTTPOSITION,
+             OPCODE_IFSTASH,
+             OPCODE_IFBITMAP_ALL,OPCODE_IFBITMAP_ANY,
              };
 
 // Ensure thrunge_lcd is put last as there may be more than one display, 
@@ -133,9 +142,10 @@ enum SignalType {
   static const byte FEATURE_LCC   = 0x40;
   static const byte FEATURE_ROSTER= 0x20;
   static const byte FEATURE_ROUTESTATE= 0x10;
-  static const byte FEATURE_STASH = 0x08;
+  // spare = 0x08;
   static const byte FEATURE_BLINK = 0x04;
   static const byte FEATURE_SENSOR = 0x02;
+  static const byte FEATURE_BLOCK = 0x01;
   
  
   // Flag bits for status of hardware and TPL
@@ -162,7 +172,7 @@ class LookList {
     int16_t findPosition(int16_t value); // finds index 
     int16_t size();
     void stream(Print * _stream); 
-    void handleEvent(const FSH* reason,int16_t id);
+    void handleEvent(const FSH* reason,int16_t id, int16_t loco=0);
 
   private:
      int16_t m_size;
@@ -176,8 +186,7 @@ class LookList {
    public:
     static void begin();
     static void loop();
-    RMFT2(int progCounter);
-    RMFT2(int route, uint16_t cab);
+    RMFT2(int progCounter, int16_t cab=0);
     ~RMFT2();
     static void readLocoCallback(int16_t cv);
     static void createNewTask(int route, uint16_t cab);
@@ -187,6 +196,10 @@ class LookList {
     static void clockEvent(int16_t clocktime, bool change);
     static void rotateEvent(int16_t id, bool change);
     static void powerEvent(int16_t track, bool overload);
+#ifdef BOOSTER_INPUT
+    static void railsyncEvent(bool on);
+#endif
+    static void blockEvent(int16_t block, int16_t loco, bool entering);
     static bool signalAspectEvent(int16_t address, byte aspect );    
     // Throttle Info Access functions built by exrail macros 
   static const byte rosterNameCount;
@@ -200,7 +213,7 @@ class LookList {
   static const FSH *  getRosterFunctions(int16_t id);
   static const FSH *  getTurntableDescription(int16_t id);
   static const FSH *  getTurntablePositionDescription(int16_t turntableId, uint8_t positionId);
-  static void startNonRecursiveTask(const FSH* reason, int16_t id,int pc);
+  static void startNonRecursiveTask(const FSH* reason, int16_t id,int pc, uint16_t loco=0);
   static bool readSensor(uint16_t sensorId);
   static bool isSignal(int16_t id,char rag);
   static SIGNAL_DEFINITION getSignalSlot(int16_t slotno); 
@@ -224,7 +237,6 @@ private:
     static RMFT2 * loopTask;
     static RMFT2 * pausingTask;
     void delayMe(long millisecs);
-    void driveLoco(byte speedo);
     bool skipIfBlock();
     bool readLoco();
     void loop2();
@@ -233,6 +245,8 @@ private:
     void printMessage2(const FSH * msg);
     void thrungeString(uint32_t strfar, thrunger mode, byte id=0);
     uint16_t getOperand(byte n); 
+    void pause();
+    void resume();
     
    static bool diag;
    static const  HIGHFLASH3  byte RouteCode[];
@@ -254,12 +268,19 @@ private:
    static LookList * onRotateLookup;
 #endif
    static LookList * onOverloadLookup;
+   static LookList * onBlockEnterLookup;
+   static LookList * onBlockExitLookup;
+#ifdef BOOSTER_INPUT
+   static LookList * onRailSyncOnLookup;
+   static LookList * onRailSyncOffLookup;
+#endif
+   
    
    static const int countLCCLookup;
    static int onLCCLookup[];
    static const byte compileFeatures;
-   static void manageRouteState(uint16_t id, byte state);
-   static void manageRouteCaption(uint16_t id, const FSH* caption);
+   static void manageRouteState(int16_t id, byte state);
+   static void manageRouteCaption(int16_t id, const FSH* caption);
    static byte * routeStateArray;
    static const FSH ** routeCaptionArray;
    static int16_t * stashArray;
@@ -278,9 +299,8 @@ private:
     byte  taskId;
     BlinkState blinkState; // includes AT_TIMEOUT flag. 
     uint16_t loco;
-    bool forward;
     bool invert;
-    byte speedo;
+    byte pauseSpeed;
     int onEventStartPosition;
     byte stackDepth;
     int callStack[MAX_STACK_DEPTH];

EXRAIL2Parser.cpp

@@ -1,7 +1,7 @@
 /*
  *  © 2021 Neil McKechnie
  *  © 2021-2023 Harald Barth
- *  © 2020-2023 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  © 2022-2023 Colin Murdoch
  *  All rights reserved.
  *  
@@ -181,39 +181,20 @@ void RMFT2::ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16
               return;
             }
             break;
-        case "M"_hk:
-            // NOTE: we only need to handle valid calls here because 
-            // DCCEXParser has to have code to handle the <J<> cases where
-            // exrail isnt involved anyway. 
-            // This entire code block is compiled out if STASH macros not used 
-          if (!(compileFeatures & FEATURE_STASH)) return;
-          if (paramCount==1) { // <JM>
-              StringFormatter::send(stream,F("<jM %d>\n"),maxStashId);
-              opcode=0;
-              break;
-            } 
-          if (paramCount==2) {  // <JM id>
-              if (p[1]<=0 || p[1]>maxStashId) break;
-              StringFormatter::send(stream,F("<jM %d %d>\n"),
-                    p[1],stashArray[p[1]]);
-               opcode=0;     
-               break;    
-          } 
-          if (paramCount==3) {  // <JM id cab>
-              if (p[1]<=0 || p[1]>maxStashId) break;
-              stashArray[p[1]]=p[2];
-              opcode=0;
-              break;      
-          }
-          break; 
+        
 
-        default:
-            break;
-        }
+  case 'K': // <K blockid loco>  Block enter
+  case 'k': // <k blockid loco>  Block exit
+        if (paramCount!=2) break;
+        blockEvent(p[0],p[1],opcode=='K');
+        opcode=0;
+        break; 
+  
   default:  // other commands pass through
     break;
   }
 }
+}
 
 bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
 
@@ -228,12 +209,31 @@ bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
 			    );
       }
       else {
-      StringFormatter::send(stream,F("\nID=%d,PC=%d,LOCO=%d%c,SPEED=%d%c"),
+      StringFormatter::send(stream,F("\nID=%d,PC=%d,LOCO=%d %c"),
 			    (int)(task->taskId),task->progCounter,task->loco,
-			    task->invert?'I':' ',
-			    task->speedo,
-			    task->forward?'F':'R'
+			    task->invert?'I':' '
 			    );
+                auto progCounter=task->progCounter; // name to satisfy macros below
+          auto operand=task->getOperand(progCounter,0);
+          switch(GET_OPCODE) {
+              case OPCODE_RESERVE:
+                StringFormatter::send(stream,F(" WAIT RESERVE %d"),operand);
+                break;
+              case OPCODE_AT:
+              case OPCODE_ATTIMEOUT2:
+              case OPCODE_AFTER:
+              case OPCODE_ATGTE:
+              case OPCODE_ATLT:
+                StringFormatter::send(stream,F(" WAIT AT/AFTER %d"),operand);
+                break;
+              case OPCODE_DELAY:
+              case OPCODE_DELAYMINS:
+              case OPCODE_DELAYMS:
+              case OPCODE_RANDWAIT:
+                StringFormatter::send(stream,F(" WAIT DELAY"));
+                break; 
+            default: break;
+          }
       }
       task=task->next;
       if (task==loopTask) break;
@@ -261,34 +261,33 @@ bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
 			      slot.id);
       } 
     }
-
-    if (compileFeatures & FEATURE_STASH) {
-      for (int i=1;i<=maxStashId;i++) {
-        if (stashArray[i])
-          StringFormatter::send(stream,F("\nSTASH[%d] Loco=%d"),
-              i, stashArray[i]); 
-      } 
-    }
-    
     StringFormatter::send(stream,F(" *>\n"));
     return true;
   }
   switch (p[0]) {
   case "PAUSE"_hk: // </ PAUSE>
     if (paramCount!=1) return false;
-    DCC::setThrottle(0,1,true);  // pause all locos on the track
+    { // pause all tasks 
+      RMFT2 * task=loopTask;
+      while(task) {
+	      task->pause();
+	      task=task->next;
+	      if (task==loopTask) break;
+      }
+    }
+    DCC::estopAll();  // pause all locos on the track
     pausingTask=(RMFT2 *)1; // Impossible task address
     return true;
     
   case "RESUME"_hk: // </ RESUME>
     if (paramCount!=1) return false;
     pausingTask=NULL;
-    {
+    { // resume all tasks
       RMFT2 * task=loopTask;
       while(task) {
-	if (task->loco) task->driveLoco(task->speedo);
-	task=task->next;
-	if (task==loopTask) break;
+	      task->resume();
+	      task=task->next;
+	      if (task==loopTask) break;
       }
     }
     return true;
@@ -301,8 +300,7 @@ bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
       uint16_t cab=(paramCount==2)? 0 : p[1];
       int pc=routeLookup->find(route);
       if (pc<0) return false;
-      RMFT2* task=new RMFT2(pc);
-      task->loco=cab;
+      new RMFT2(pc,cab);
     }
     return true;
     
@@ -363,4 +361,3 @@ bool RMFT2::parseSlash(Print * stream, byte & paramCount, int16_t p[]) {
     return false;
   }
 }
-

EXRAILAsserts.h

@@ -0,0 +1,165 @@
+/*
+ *  © 2020-2025 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+// This file checks the myAutomation for errors by generating a list of compile time asserts.
+
+// Assert Pass 1 Collect sequence numbers.
+#include "EXRAIL2MacroReset.h"
+#undef AUTOMATION
+#define AUTOMATION(id, description) id,
+#undef ROUTE
+#define ROUTE(id, description) id,
+#undef SEQUENCE
+#define SEQUENCE(id) id,
+constexpr int16_t compileTimeSequenceList[]={
+   #include "myAutomation.h"
+   0
+   };
+constexpr int16_t stuffSize=sizeof(compileTimeSequenceList)/sizeof(int16_t) - 1;
+
+
+// Compile time function to check for sequence number duplication
+constexpr int16_t seqCount(const int16_t value, const int16_t pos=0, const int16_t count=0 ) {
+   return pos>=stuffSize? count :
+             seqCount(value,pos+1,count+((compileTimeSequenceList[pos]==value)?1:0));
+}
+
+
+// Build a compile time blacklist of pin numbers. 
+// Includes those defined in defaults.h for the cpu (PIN_BLACKLIST)
+// and cheats in the motor shield pins from config.h (MOTOR_SHIELD_TYPE)
+// for reference the MotorDriver constructor is:
+// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin,
+//             float senseFactor, unsigned int tripMilliamps, byte faultPin);
+
+// create capture macros to reinterpret MOTOR_SHIELD_TYPE from configuration
+#define new
+#define MotorDriver(power_pin,signal_pin,signal_pin2, \
+   brake_pin,current_pin,senseFactor,tripMilliamps,faultPin) \
+   abs(power_pin),abs(signal_pin),abs(signal_pin2),abs(brake_pin),abs(current_pin),abs(faultPin)
+#ifndef PIN_BLACKLIST 
+  #define PIN_BLACKLIST UNUSED_PIN
+#endif 
+#define MDFURKLE(stuff) MDFURKLE2(stuff)
+#define MDFURKLE2(description,...) REMOVE_TRAILING_COMMA(__VA_ARGS__)
+#define REMOVE_TRAILING_COMMA(...) __VA_ARGS__
+
+
+constexpr int16_t compileTimePinBlackList[]={
+   PIN_BLACKLIST, MDFURKLE(MOTOR_SHIELD_TYPE)
+   };
+constexpr int16_t pbSize=sizeof(compileTimePinBlackList)/sizeof(int16_t) - 1;
+
+
+// remove capture macros
+#undef new
+#undef MotorDriver
+
+// Compile time function to check for dangerous pins.
+constexpr bool unsafePin(const int16_t value, const uint16_t pos=0 ) {
+   return pos>=pbSize? false :
+      compileTimePinBlackList[pos]==value 
+      || unsafePin(value,pos+1); 
+}
+
+
+//pass 2 apply static asserts:
+// check call and follows etc for existing sequence numbers
+// check sequence numbers for duplicates
+// check range on LATCH/UNLATCH
+// check range on RESERVE/FREE
+// check range on SPEED/FWD/REV
+// check range on SET/RESET   (pins that are not safe to use in EXRAIL)
+// 
+// This pass generates no runtime data or code 
+#include "EXRAIL2MacroReset.h"
+#undef ASPECT
+#define ASPECT(address,value) static_assert(address <=2044, "invalid Address"); \
+                              static_assert(address>=-3, "Invalid value");
+
+// check references to sequences/routes/automations
+#undef CALL
+#define CALL(id) static_assert(seqCount(id)>0,"Sequence  not found");
+#undef FOLLOW
+#define FOLLOW(id)  static_assert(seqCount(id)>0,"Sequence not found");
+#undef START
+#define START(id)  static_assert(seqCount(id)>0,"Sequence not found");
+#undef SENDLOCO
+#define SENDLOCO(cab,id) static_assert(seqCount(id)>0,"Sequence not found");
+#undef ROUTE_ACTIVE
+#define ROUTE_ACTIVE(id)  static_assert(seqCount(id)>0,"Route not found");
+#undef ROUTE_INACTIVE
+#define ROUTE_INACTIVE(id)  static_assert(seqCount(id)>0,"Route not found");
+#undef ROUTE_HIDDEN
+#define ROUTE_HIDDEN(id)  static_assert(seqCount(id)>0,"Route not found");
+#undef ROUTE_DISABLED
+#define ROUTE_DISABLED(id)  static_assert(seqCount(id)>0,"Route not found");
+#undef ROUTE_CAPTION 
+#define ROUTE_CAPTION(id,caption) static_assert(seqCount(id)>0,"Route not found");
+
+
+#undef LATCH
+#define LATCH(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
+#undef UNLATCH
+#define UNLATCH(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
+#undef RESERVE
+#define RESERVE(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
+#undef FREE
+#define FREE(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
+#undef IFRESERVE
+#define IFRESERVE(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
+
+//check speeds
+#undef SPEED
+#define SPEED(speed) static_assert(speed>=0 && speed<128,"\n\nUSER ERROR: Speed out of valid range 0-127\n");
+#undef FWD
+#define FWD(speed) static_assert(speed>=0 && speed<128,"\n\nUSER ERROR: Speed out of valid range 0-127\n");
+#undef REV
+#define REV(speed) static_assert(speed>=0 && speed<128,"\n\nUSER ERROR: Speed out of valid range 0-127\n");
+
+// check duplicate sequences
+#undef SEQUENCE
+#define SEQUENCE(id) static_assert(seqCount(id)==1,"\n\nUSER ERROR: Duplicate ROUTE/AUTOMATION/SEQUENCE(" #id ")\n");
+#undef AUTOMATION
+#define AUTOMATION(id,description) static_assert(seqCount(id)==1,"\n\nUSER ERROR: Duplicate ROUTE/AUTOMATION/SEQUENCE(" #id ")\n");
+#undef ROUTE
+#define ROUTE(id,description) static_assert(seqCount(id)==1,"\n\nUSER ERROR: Duplicate ROUTE/AUTOMATION/SEQUENCE(" #id ")\n");
+
+// check dangerous pins
+#define _PIN_RESERVED_ "\n\nUSER ERROR: Pin is used by Motor Shield or other critical function.\n"
+#undef SET
+#define SET(vpin, ...) static_assert(!unsafePin(vpin),"SET(" #vpin ")" _PIN_RESERVED_);
+#undef RESET
+#define RESET(vpin,...) static_assert(!unsafePin(vpin),"RESET(" #vpin ")" _PIN_RESERVED_);
+#undef BLINK
+#define BLINK(vpin,onDuty,offDuty) static_assert(!unsafePin(vpin),"BLINK(" #vpin ")" _PIN_RESERVED_);
+#undef SIGNAL
+#define SIGNAL(redpin,amberpin,greenpin) \
+      static_assert(!unsafePin(redpin),"Red pin " #redpin _PIN_RESERVED_); \
+      static_assert(amberpin==0 ||!unsafePin(amberpin),"Amber pin " #amberpin _PIN_RESERVED_); \
+      static_assert(!unsafePin(greenpin),"Green pin " #greenpin _PIN_RESERVED_); 
+#undef SIGNALH
+#define SIGNALH(redpin,amberpin,greenpin) \
+      static_assert(!unsafePin(redpin),"Red pin " #redpin _PIN_RESERVED_); \
+      static_assert(amberpin==0 ||!unsafePin(amberpin),"Amber pin " #amberpin _PIN_RESERVED_); \
+      static_assert(!unsafePin(greenpin),"Green pin " #greenpin _PIN_RESERVED_); 
+
+// and run the assert pass.       
+#include "myAutomation.h"

EXRAILMacros.h

@@ -1,8 +1,9 @@
 /*
  *  © 2021 Neil McKechnie
- *  © 2020-2022 Chris Harlow
+ *  © 2020-2025 Chris Harlow
  *  © 2022-2023 Colin Murdoch
  *  © 2023 Harald Barth
+ *  © 2025 Morten Nielsen
  *  All rights reserved.
  *  
  *  This file is part of CommandStation-EX
@@ -23,6 +24,7 @@
 
 #ifndef EXRAILMacros_H
 #define EXRAILMacros_H
+#include "IODeviceList.h"
 
 // remove normal code LCD & SERIAL macros (will be restored later)
 #undef LCD
@@ -84,72 +86,8 @@
 #define ALIAS(name,value...) const int name= #value[0] ? value+0: -__COUNTER__ ; 
 #include "myAutomation.h"
 
-// Pass 1d Detect sequence duplicates.
-// This pass generates no runtime data or code 
-#include "EXRAIL2MacroReset.h"
-#undef AUTOMATION
-#define AUTOMATION(id, description) id,
-#undef ROUTE
-#define ROUTE(id, description) id,
-#undef SEQUENCE
-#define SEQUENCE(id) id,
-constexpr int16_t compileTimeSequenceList[]={
-   #include "myAutomation.h"
-   0
-   };
-constexpr int16_t stuffSize=sizeof(compileTimeSequenceList)/sizeof(int16_t) - 1;
-
-
-// Compile time function to check for sequence nos.
-constexpr bool hasseq(const int16_t value, const int16_t pos=0 ) {
-    return pos>=stuffSize? false :
-          compileTimeSequenceList[pos]==value 
-       || hasseq(value,pos+1); 
-}
-
-// Compile time function to check for duplicate sequence nos.
-constexpr bool hasdup(const int16_t value, const int16_t pos ) {
-    return pos>=stuffSize? false :
-          compileTimeSequenceList[pos]==value 
-       || hasseq(value,pos+1) 
-       || hasdup(compileTimeSequenceList[pos],pos+1);
-}
-
-
-static_assert(!hasdup(compileTimeSequenceList[0],1),"Duplicate SEQUENCE/ROUTE/AUTOMATION detected");
-
-//pass 1s static asserts to
-//  - check call and follows etc for existing sequence numbers
-//  - check range on LATCH/UNLATCH
-// This pass generates no runtime data or code 
-#include "EXRAIL2MacroReset.h"
-#undef ASPECT
-#define ASPECT(address,value) static_assert(address <=2044, "invalid Address"); \
-                              static_assert(address>=-3, "Invalid value");
-#undef CALL
-#define CALL(id) static_assert(hasseq(id),"Sequence not found");
-#undef FOLLOW
-#define FOLLOW(id)  static_assert(hasseq(id),"Sequence not found");
-#undef START
-#define START(id)  static_assert(hasseq(id),"Sequence not found");
-#undef SENDLOCO
-#define SENDLOCO(cab,id) static_assert(hasseq(id),"Sequence not found");
-#undef LATCH
-#define LATCH(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
-#undef UNLATCH
-#define UNLATCH(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
-#undef RESERVE
-#define RESERVE(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
-#undef FREE
-#define FREE(id) static_assert(id>=0 && id<MAX_FLAGS,"Id out of valid range 0-255" );
-#undef SPEED
-#define SPEED(speed) static_assert(speed>=0 && speed<128,"Speed out of valid range 0-127");
-#undef FWD
-#define FWD(speed) static_assert(speed>=0 && speed<128,"Speed out of valid range 0-127");
-#undef REV
-#define REV(speed) static_assert(speed>=0 && speed<128,"Speed out of valid range 0-127");
-
-#include "myAutomation.h"
+// Perform compile time asserts to check the script for errors
+#include "EXRAILAsserts.h"
 
 // Pass 1g Implants STEALTH_GLOBAL in correct place 
 #include "EXRAIL2MacroReset.h"
@@ -157,21 +95,29 @@ static_assert(!hasdup(compileTimeSequenceList[0],1),"Duplicate SEQUENCE/ROUTE/AU
 #define STEALTH_GLOBAL(code...) code
 #include "myAutomation.h"
 
-// Pass 1h Implements HAL macro by creating exrailHalSetup function
+// Pass 1h Implements HAL macro by creating exrailHalSetup1 function
 // Also allows creating EXTurntable object
 #include "EXRAIL2MacroReset.h"
 #undef HAL
 #define HAL(haltype,params...)  haltype::create(params);
 #undef HAL_IGNORE_DEFAULTS
 #define HAL_IGNORE_DEFAULTS ignore_defaults=true;
+bool exrailHalSetup1() {
+   bool ignore_defaults=false;
+   #include "myAutomation.h"
+   return ignore_defaults;
+}
+
+// Pass 1s Implements servos by creating exrailHalSetup2
+// TODO Turnout and turntable creation should be moved to here instead of 
+// the first pass from the opcode table. 
+#include "EXRAIL2MacroReset.h"
 #undef JMRI_SENSOR
 #define JMRI_SENSOR(vpin,count...) Sensor::createMultiple(vpin,##count);
 #undef  CONFIGURE_SERVO
 #define CONFIGURE_SERVO(vpin,pos1,pos2,profile) IODevice::configureServo(vpin,pos1,pos2,PCA9685::profile);
-bool exrailHalSetup() {
-   bool ignore_defaults=false;
+void exrailHalSetup2() {
    #include "myAutomation.h"
-   return ignore_defaults;
 }
 
 // Pass 1c detect compile time featurtes
@@ -216,20 +162,18 @@ bool exrailHalSetup() {
 #undef ROUTE_CAPTION
 #define ROUTE_CAPTION(id,caption) | FEATURE_ROUTESTATE
 
-#undef CLEAR_STASH
-#define CLEAR_STASH(id) | FEATURE_STASH
-#undef CLEAR_ALL_STASH
-#define CLEAR_ALL_STASH | FEATURE_STASH
-#undef PICKUP_STASH
-#define PICKUP_STASH(id) | FEATURE_STASH
-#undef STASH
-#define STASH(id) | FEATURE_STASH
 #undef BLINK
 #define BLINK(vpin,onDuty,offDuty) | FEATURE_BLINK
 #undef ONBUTTON
 #define ONBUTTON(vpin) | FEATURE_SENSOR
 #undef ONSENSOR
 #define ONSENSOR(vpin) | FEATURE_SENSOR
+#undef ONBITMAP
+#define ONBITMAP(vpin) | FEATURE_SENSOR
+#undef ONBLOCKENTER
+#define ONBLOCKENTER(blockid) | FEATURE_BLOCK
+#undef ONBLOCKEXIT
+#define ONBLOCKEXIT(blockid) | FEATURE_BLOCK
 
 const byte RMFT2::compileFeatures = 0
    #include "myAutomation.h"
@@ -493,6 +437,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define CALL(route) OPCODE_CALL,V(route),
 #define CLEAR_STASH(id) OPCODE_CLEAR_STASH,V(id),
 #define CLEAR_ALL_STASH OPCODE_CLEAR_ALL_STASH,V(0),
+#define CLEAR_ANY_STASH OPCODE_CLEAR_ANY_STASH,V(0),
 #define CLOSE(id)  OPCODE_CLOSE,V(id),
 #define CONFIGURE_SERVO(vpin,pos1,pos2,profile)
 #ifndef IO_NO_HAL
@@ -512,11 +457,12 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define ENDIF  OPCODE_ENDIF,0,0,
 #define ENDTASK OPCODE_ENDTASK,0,0,
 #define ESTOP OPCODE_SPEED,V(1), 
+#define ESTOPALL OPCODE_ESTOPALL,0,0, 
 #define EXRAIL
 #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),
@@ -538,12 +484,15 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define IFRANDOM(percent) OPCODE_IFRANDOM,V(percent),
 #define IFRED(signal_id) OPCODE_IFRED,V(signal_id),
 #define IFRESERVE(block) OPCODE_IFRESERVE,V(block),
+#define IFSTASH(stash_id) OPCODE_IFSTASH,V(stash_id),
 #define IFTHROWN(turnout_id) OPCODE_IFTHROWN,V(turnout_id),
 #define IFTIMEOUT OPCODE_IFTIMEOUT,0,0,
 #ifndef IO_NO_HAL
 #define IFTTPOSITION(id,position) OPCODE_IFTTPOSITION,V(id),OPCODE_PAD,V(position),
 #endif
 #define IFRE(sensor_id,value) OPCODE_IFRE,V(sensor_id),OPCODE_PAD,V(value),
+#define IFBITMAP_ALL(vpin,mask) OPCODE_IFBITMAP_ALL,V(vpin),OPCODE_PAD,V(mask),
+#define IFBITMAP_ANY(vpin,mask) OPCODE_IFBITMAP_ANY,V(vpin),OPCODE_PAD,V(mask),
 #define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,0,0,
 #define JMRI_SENSOR(vpin,count...)
 #define JOIN OPCODE_JOIN,0,0,
@@ -564,6 +513,7 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define STEALTH_GLOBAL(code...) 
 #define LCN(msg) PRINT(msg)
 #define MESSAGE(msg) PRINT(msg)
+#define MOMENTUM(accel,decel...) OPCODE_MOMENTUM,V(accel),OPCODE_PAD,V(#decel[0]?decel+0:accel),
 #define MOVETT(id,steps,activity) OPCODE_SERVO,V(id),OPCODE_PAD,V(steps),OPCODE_PAD,V(EXTurntable::activity),OPCODE_PAD,V(0),
 #define NEOPIXEL(id,r,g,b,count...) OPCODE_NEOPIXEL,V(id),\
         OPCODE_PAD,V(((r & 0xff)<<8) | (g & 0xff)),\
@@ -574,6 +524,8 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define ONACTIVATE(addr,subaddr) OPCODE_ONACTIVATE,V(addr<<2|subaddr),
 #define ONACTIVATEL(linear) OPCODE_ONACTIVATE,V(linear+3),
 #define ONAMBER(signal_id) OPCODE_ONAMBER,V(signal_id),
+#define ONBLOCKENTER(block_id) OPCODE_ONBLOCKENTER,V(block_id),
+#define ONBLOCKEXIT(block_id) OPCODE_ONBLOCKEXIT,V(block_id),
 #define ONCLOSE(turnout_id) OPCODE_ONCLOSE,V(turnout_id),
 #define ONLCC(sender,event) OPCODE_ONLCC,V(event),\
         OPCODE_PAD,V((((uint64_t)sender)>>32)&0xFFFF),\
@@ -583,6 +535,8 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define ONCLOCKTIME(hours,mins) OPCODE_ONTIME,V((STRIP_ZERO(hours)*60)+STRIP_ZERO(mins)),
 #define ONCLOCKMINS(mins) ONCLOCKTIME(25,mins)
 #define ONOVERLOAD(track_id) OPCODE_ONOVERLOAD,V(TRACK_NUMBER_##track_id),
+#define ONRAILSYNCON OPCODE_ONRAILSYNCON,0,0,
+#define ONRAILSYNCOFF OPCODE_ONRAILSYNCOFF,0,0,
 #define ONDEACTIVATE(addr,subaddr) OPCODE_ONDEACTIVATE,V(addr<<2|subaddr),
 #define ONDEACTIVATEL(linear) OPCODE_ONDEACTIVATE,V(linear+3),
 #define ONGREEN(signal_id) OPCODE_ONGREEN,V(signal_id),
@@ -593,13 +547,12 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
 #define ONCHANGE(sensor_id) OPCODE_ONCHANGE,V(sensor_id),
 #define ONSENSOR(sensor_id) OPCODE_ONSENSOR,V(sensor_id),
+#define ONBITMAP(sensor_id) OPCODE_ONBITMAP,V(sensor_id),
 #define ONBUTTON(sensor_id) OPCODE_ONBUTTON,V(sensor_id),
 #define PAUSE OPCODE_PAUSE,0,0,
 #define PICKUP_STASH(id) OPCODE_PICKUP_STASH,V(id),
 #define PIN_TURNOUT(id,pin,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin),
-#ifndef DISABLE_PROG
 #define POM(cv,value) OPCODE_POM,V(cv),OPCODE_PAD,V(value),
-#endif
 #define POWEROFF OPCODE_POWEROFF,0,0,
 #define POWERON OPCODE_POWERON,0,0,
 #define PRINT(msg) OPCODE_PRINT,V(__COUNTER__ - StringMacroTracker2),
@@ -607,7 +560,7 @@ 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 +588,7 @@ 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),
@@ -657,6 +610,11 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define UNLATCH(sensor_id) OPCODE_UNLATCH,V(sensor_id),
 #define VIRTUAL_SIGNAL(id) 
 #define VIRTUAL_TURNOUT(id,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(0), 
+#define BITMAP_AND(vpin,mask) OPCODE_BITMAP_AND,V(vpin),OPCODE_PAD,V(mask),
+#define BITMAP_INC(vpin) OPCODE_BITMAP_INC,V(vpin),
+#define BITMAP_DEC(vpin) OPCODE_BITMAP_DEC,V(vpin),
+#define BITMAP_OR(vpin,mask) OPCODE_BITMAP_OR,V(vpin),OPCODE_PAD,V(mask),
+#define BITMAP_XOR(vpin,mask) OPCODE_BITMAP_XOR,V(vpin),OPCODE_PAD,V(mask),
 #define WITHROTTLE(msg) PRINT(msg)
 #define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
 #ifndef IO_NO_HAL
@@ -665,6 +623,9 @@ 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),
+#define XPOM(cab,cv,value) OPCODE_XPOM,V(cab),OPCODE_PAD,V(cv),OPCODE_PAD,V(value),
 
 // Build RouteCode
 const int StringMacroTracker2=__COUNTER__;

EXRAILSensor.cpp

@@ -59,7 +59,7 @@ void EXRAILSensor::checkAll() {
 
 bool EXRAILSensor::check() {
   // check for debounced change in this sensor 
-  inputState = RMFT2::readSensor(pin);
+  inputState = useAnalog?IODevice::readAnalogue(pin):RMFT2::readSensor(pin);
 
   // Check if changed since last time, and process changes.
   if (inputState == active) {// no change
@@ -83,18 +83,18 @@ bool EXRAILSensor::check() {
     return false; 
 }
 
-EXRAILSensor::EXRAILSensor(VPIN _pin, int _progCounter, bool _onChange) {
-  // Add to the start of the list
-  //DIAG(F("ONthing vpin=%d at %d"), _pin, _progCounter);
+EXRAILSensor::EXRAILSensor(VPIN _pin, int _progCounter, bool _onChange, bool _useAnalog) {
+
   nextSensor = firstSensor;
   firstSensor = this;
 
   pin=_pin;
   progCounter=_progCounter;
   onChange=_onChange;
+  useAnalog=_useAnalog;
 
   IODevice::configureInput(pin, true);   
-  active = IODevice::read(pin);
+  active = useAnalog?IODevice::readAnalogue(pin): IODevice::read(pin);
   inputState = active;
   latchDelay = minReadCount;
 }

EXRAILSensor.h

@@ -29,7 +29,8 @@ class EXRAILSensor {
   public:
   static void checkAll();
   
-  EXRAILSensor(VPIN _pin, int _progCounter, bool _onChange);
+  EXRAILSensor(VPIN _pin, int _progCounter, bool _onChange, bool _useAnalog=false);
+  
   bool check();
   
   private:
@@ -42,9 +43,10 @@ class EXRAILSensor {
   EXRAILSensor* nextSensor;
   VPIN pin; 
   int progCounter; 
-  bool active; 
-  bool inputState;
+  uint16_t active; 
+  uint16_t inputState;
   bool onChange;
+  bool useAnalog;
   byte latchDelay;
 };
-#endif
+#endif

EXmDNS.cpp

@@ -0,0 +1,200 @@
+/*
+ *  © 2024 Harald Barth
+ *  © 2024 Paul M. Antoine
+ *  All rights reserved.
+ *
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include <Arduino.h>
+#include "EthernetInterface.h"
+#ifdef DO_MDNS
+#include "EXmDNS.h"
+
+// fixed values for mDNS
+static IPAddress mdnsMulticastIPAddr = IPAddress(224, 0, 0, 251);
+#define MDNS_SERVER_PORT 5353
+
+// dotToLen()
+// converts stings of form ".foo.barbar.x" to a string with the
+// dots replaced with lenght. So string above  would result in
+// "\x03foo\x06barbar\x01x" in C notation. If not NULL, *substr
+// will point to the beginning of the last component, in this
+// example that would be "\x01x".
+//
+static void dotToLen(char *str, char **substr) {
+  char *dotplace = NULL;
+  char *s;
+  byte charcount = 0;
+  for (s = str;/*see break*/ ; s++) {
+    if (*s == '.' || *s == '\0') {
+      // take care of accumulated
+      if (dotplace != NULL && charcount != 0) {
+	*dotplace = charcount;
+      }
+      if (*s == '\0')
+	break;
+      if (substr && *s == '.')
+	*substr = s;
+      // set new values
+      dotplace = s;
+      charcount = 0;
+    } else {
+      charcount++;
+    }
+  }
+}
+
+MDNS::MDNS(EthernetUDP& udp) {
+  _udp = &udp;
+}
+MDNS::~MDNS() {
+  _udp->stop();
+  if (_name) free(_name);
+  if (_serviceName) free(_serviceName);
+  if (_serviceProto) free(_serviceProto);
+}
+int MDNS::begin(const IPAddress& ip, char* name) {
+  // if we were called very soon after the board was booted, we need to give the
+  // EthernetShield (WIZnet) some time to come up. Hence, we delay until millis() is at
+  // least 3000. This is necessary, so that if we need to add a service record directly
+  // after begin, the announce packet does not get lost in the bowels of the WIZnet chip.
+  //while (millis() < 3000) 
+  //  delay(100);
+  
+  _ipAddress = ip;
+  _name = (char *)malloc(strlen(name)+2);
+  byte n;
+  for(n = 0; n<strlen(name); n++)
+    _name[n+1] = name[n];
+  _name[n+1] = '\0';
+  _name[0] = '.';
+  dotToLen(_name, NULL);
+  return _udp->beginMulticast(mdnsMulticastIPAddr, MDNS_SERVER_PORT);
+}
+
+int MDNS::addServiceRecord(const char* name, uint16_t port, MDNSServiceProtocol_t proto) {
+  // we ignore proto, assume TCP
+  (void)proto;
+  _serviceName = (char *)malloc(strlen(name) + 2);
+  byte n;
+  for(n = 0; n<strlen(name); n++)
+    _serviceName[n+1] = name[n];
+  _serviceName[n+1] = '\0';
+  _serviceName[0] = '.';
+  _serviceProto = NULL; //to be filled in
+  dotToLen(_serviceName, &_serviceProto);
+  _servicePort = port;
+  return 1;
+}
+
+static char dns_rr_services[]   = "\x09_services\x07_dns-sd\x04_udp\x05local";
+static char dns_rr_tcplocal[]   = "\x04_tcp\x05local"; 
+static char *dns_rr_local       = dns_rr_tcplocal + dns_rr_tcplocal[0] + 1;
+
+typedef struct _DNSHeader_t 
+{
+  uint16_t    xid;
+  uint16_t  flags; // flags condensed
+  uint16_t    queryCount;
+  uint16_t    answerCount;
+  uint16_t    authorityCount;
+  uint16_t    additionalCount;
+} __attribute__((__packed__)) DNSHeader_t;
+
+//
+// MDNS::run()
+// This broadcasts whatever we got evey BROADCASTTIME seconds.
+// Why? Too much brokenness i all mDNS implementations available
+//
+void MDNS::run() {
+  static long int lastrun = BROADCASTTIME * 1000UL;
+  unsigned long int now = millis();
+  if (!(now - lastrun > BROADCASTTIME * 1000UL)) {
+    return;
+  }
+  lastrun = now;
+  DNSHeader_t dnsHeader = {0, 0, 0, 0, 0, 0};
+  // DNSHeader_t dnsHeader = { 0 };
+
+  _udp->beginPacket(mdnsMulticastIPAddr, MDNS_SERVER_PORT);
+
+  // dns header
+  dnsHeader.flags = HTONS((uint16_t)0x8400); // Response, authorative
+  dnsHeader.answerCount = HTONS(4 /*5 if TXT but we do not do that */);
+  _udp->write((uint8_t*)&dnsHeader, sizeof(DNSHeader_t));
+
+  // rr #1, the PTR record from generic _services.x.local to service.x.local
+  _udp->write((uint8_t*)dns_rr_services, sizeof(dns_rr_services));
+
+  byte buf[10];
+  buf[0] = 0x00;
+  buf[1] = 0x0c;                           //PTR
+  buf[2] = 0x00;
+  buf[3] = 0x01;                           //IN
+  *((uint32_t*)(buf+4)) = HTONL(120); //TTL in sec
+  *((uint16_t*)(buf+8)) = HTONS( _serviceProto[0] + 1 + strlen(dns_rr_tcplocal) + 1);
+  _udp->write(buf, 10);
+
+  _udp->write(_serviceProto,_serviceProto[0]+1);
+  _udp->write(dns_rr_tcplocal, strlen(dns_rr_tcplocal)+1);
+
+  // rr #2, the PTR record from proto.x to name.proto.x
+  _udp->write(_serviceProto,_serviceProto[0]+1);
+  _udp->write(dns_rr_tcplocal, strlen(dns_rr_tcplocal)+1);
+  *((uint16_t*)(buf+8)) = HTONS(strlen(_serviceName) + strlen(dns_rr_tcplocal) + 1); // recycle most of buf
+  _udp->write(buf, 10);
+
+  _udp->write(_serviceName, strlen(_serviceName));
+  _udp->write(dns_rr_tcplocal, strlen(dns_rr_tcplocal)+1);
+  // rr #3, the SRV record for the service that points to local name
+  _udp->write(_serviceName, strlen(_serviceName));
+  _udp->write(dns_rr_tcplocal, strlen(dns_rr_tcplocal)+1);
+
+  buf[1] = 0x21;                                  // recycle most of buf but here SRV
+  buf[2] = 0x80;                                  // cache flush
+  *((uint16_t*)(buf+8)) = HTONS(strlen(_name) + strlen(dns_rr_local) + 1 + 6);
+  _udp->write(buf, 10);
+
+  byte srv[6];
+  // priority and weight
+  srv[0] = srv[1] = srv[2] = srv[3] = 0;
+  // port
+  *((uint16_t*)(srv+4)) = HTONS(_servicePort);
+  _udp->write(srv, 6);
+  // target
+  _udp->write(_name, _name[0]+1);
+  _udp->write(dns_rr_local, strlen(dns_rr_local)+1);
+
+  // rr #4, the A record for the name.local
+  _udp->write(_name, _name[0]+1);
+  _udp->write(dns_rr_local, strlen(dns_rr_local)+1);
+  
+  buf[1] = 0x01;                                  // recycle most of buf but here A
+  *((uint16_t*)(buf+8)) = HTONS(4);
+  _udp->write(buf, 10);
+  byte ip[4];
+  ip[0] = _ipAddress[0];
+  ip[1] = _ipAddress[1];
+  ip[2] = _ipAddress[2];
+  ip[3] = _ipAddress[3];
+  _udp->write(ip, 4);
+  
+  _udp->endPacket();
+  _udp->flush();
+  // 
+}
+#endif //DO_MDNS

EXmDNS.h

@@ -0,0 +1,50 @@
+/*
+ *  © 2024 Harald Barth
+ *  © 2024 Paul M. Antoine
+ *  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/>.
+ */
+#ifdef DO_MDNS
+#define BROADCASTTIME 15 //seconds
+
+// We do this ourselves because every library is different and/or broken...
+#define HTONS(x) ((uint16_t)(((x) << 8) | (((x) >> 8) & 0xFF)))
+#define HTONL(x) ( ((uint32_t)(x) << 24) | (((uint32_t)(x) << 8) & 0xFF0000) | \
+                  (((uint32_t)(x) >> 8) & 0xFF00) | ((uint32_t)(x) >> 24) )
+
+typedef enum _MDNSServiceProtocol_t 
+{
+  MDNSServiceTCP,
+  MDNSServiceUDP
+} MDNSServiceProtocol_t;
+
+class MDNS {
+public:
+  MDNS(EthernetUDP& udp);
+  ~MDNS();
+  int begin(const IPAddress& ip,  char* name);
+  int addServiceRecord(const char* name, uint16_t port, MDNSServiceProtocol_t proto);
+  void run();
+private:
+  EthernetUDP *_udp;
+  IPAddress _ipAddress;
+  char* _name;
+  char* _serviceName;
+  char* _serviceProto;
+  int _servicePort;
+};
+#endif //DO_MDNS

EthernetInterface.cpp

@@ -31,13 +31,12 @@
 #include "CommandDistributor.h"
 #include "WiThrottle.h"
 #include "DCCTimer.h"
-#if __has_include ( "MDNS_Generic.h")
-  #include "MDNS_Generic.h"
-  #define DO_MDNS 
-  EthernetUDP udp;
-  MDNS mdns(udp);
-#endif
 
+#ifdef DO_MDNS
+#include "EXmDNS.h"
+EthernetUDP udp;
+MDNS mdns(udp);
+#endif
 
 //extern void looptimer(unsigned long timeout, const FSH* message);
 #define looptimer(a,b)
@@ -116,10 +115,10 @@ void EthernetInterface::setup()
  
   outboundRing=new RingStream(OUTBOUND_RING_SIZE);
   #ifdef DO_MDNS
-    mdns.begin(Ethernet.localIP(), WIFI_HOSTNAME); // hostname
+    if (!mdns.begin(Ethernet.localIP(), (char *)WIFI_HOSTNAME))
+      DIAG(F("mdns.begin fail")); // hostname
     mdns.addServiceRecord(WIFI_HOSTNAME "._withrottle", IP_PORT, MDNSServiceTCP);
-  // Not sure if we need to run it once, but just in case!
-    mdns.run();
+    mdns.run(); // run it right away to get out info ASAP
   #endif  
   connected=true;    
 }
@@ -144,7 +143,9 @@ void EthernetInterface::acceptClient() { // STM32 version
       return;
     }
   }
-  DIAG(F("Ethernet OVERFLOW"));
+  // reached here only if more than MAX_SOCK_NUM clients want to connect
+  DIAG(F("Ethernet more than %d clients, not accepting new connection"), MAX_SOCK_NUM);
+  client.stop();
 }
 #else
 void EthernetInterface::acceptClient() { // non-STM32 version

EthernetInterface.h

@@ -3,7 +3,7 @@
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
  *  © 2021 Fred Decker
- *  © 2020-2022 Harald Barth
+ *  © 2020-2024 Harald Barth
  *  © 2020-2024 Chris Harlow
  *  © 2020 Gregor Baues
  *  All rights reserved.
@@ -31,24 +31,32 @@
 #define EthernetInterface_h
 
 #include "defines.h"
+#if ETHERNET_ON == true
 #include "DCCEXParser.h"
 #include <Arduino.h>
 //#include <avr/pgmspace.h>
 #if defined (ARDUINO_TEENSY41)
  #include <NativeEthernet.h>         //TEENSY Ethernet Treiber
  #include <NativeEthernetUdp.h>   
+ #ifndef MAX_SOCK_NUM
  #define MAX_SOCK_NUM 4
+ #endif
+ // can't use our MDNS because of a namespace clash with Teensy's NativeEthernet library!
+ // #define DO_MDNS
 #elif defined (ARDUINO_NUCLEO_F429ZI) || defined (ARDUINO_NUCLEO_F439ZI) || defined (ARDUINO_NUCLEO_F4X9ZI)
  #include <LwIP.h>
-//  #include "STM32lwipopts.h"
  #include <STM32Ethernet.h>
  #include <lwip/netif.h>
  extern "C" struct netif gnetif;
  #define STM32_ETHERNET
- #define MAX_SOCK_NUM 8
+ #define MAX_SOCK_NUM MAX_NUM_TCP_CLIENTS
+ #define DO_MDNS
 #else
  #include "Ethernet.h"
+ #define DO_MDNS
 #endif
+
+
 #include "RingStream.h"
 
 /**
@@ -77,5 +85,5 @@ class EthernetInterface {
     static void dropClient(byte socketnum);
     
 };
-
+#endif // ETHERNET_ON
 #endif

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "devel-heartbeat202410192325ZZ"
+#define GITHUB_SHA "devel-202507181124Z"

I2CManager.cpp

@@ -46,6 +46,8 @@
 
 // Helper function for listing device types
 static const FSH * guessI2CDeviceType(uint8_t address) {
+  if (address >= 0x10 && address <= 0x17)
+    return F("EX-SensorCAM");
   if (address == 0x1A)
     // 0x09-0x18 selectable, but for now handle the default
     return F("Piicodev 865/915MHz Transceiver");

I2CManager_NonBlocking.h

@@ -37,21 +37,42 @@
 // it can replace use of noInterrupts/interrupts in other parts of DCC-EX.
 //
 static inline uint8_t _deferInterrupts(void) {
+#if defined(ARDUINO_ARCH_STM32)
+  NVIC_DisableIRQ(I2C1_EV_IRQn);
+  NVIC_DisableIRQ(I2C1_ER_IRQn);
+#else
   noInterrupts();
+#endif
   return 1;
 }
 static inline void _conditionalEnableInterrupts(bool *wasEnabled) {
+#if defined(ARDUINO_ARCH_STM32)
+  (void)wasEnabled;
+  NVIC_EnableIRQ(I2C1_EV_IRQn);
+  NVIC_EnableIRQ(I2C1_ER_IRQn);
+#else
   if (*wasEnabled) interrupts();
+#endif
 }
 #define ATOMIC_BLOCK(x) \
 for (bool _int_saved __attribute__((__cleanup__(_conditionalEnableInterrupts))) \
             =_getInterruptState(),_ToDo=_deferInterrupts(); _ToDo; _ToDo=0)
 
+// The  construct of
+// "variable __attribute__((__cleanup__(func)))"
+// calls the func with *variable when variable goes out of scope
+
 #if defined(__AVR__) // Nano, Uno, Mega2580, NanoEvery, etc.
   static inline bool _getInterruptState(void) {
     return bitRead(SREG, SREG_I);  // true if enabled, false if disabled
   }
-#elif defined(__arm__)  // STM32, SAMD, Teensy
+#elif defined(ARDUINO_ARCH_STM32)
+  static inline bool _getInterruptState( void ) {
+    // as we do ony mess with the I2C interrupts in the STM32 case,
+    // we do not care about their previous state
+    return true;
+  }
+#elif defined(__arm__)  // SAMD, Teensy
   static inline bool _getInterruptState( void ) {
     uint32_t reg;
     __asm__ __volatile__ ("MRS %0, primask" : "=r" (reg) );
@@ -384,4 +405,4 @@ void I2CManagerClass::handleInterrupt() {
   }
 }
 
-#endif
+#endif

I2CManager_STM32.h

@@ -211,9 +211,19 @@ void I2CManagerClass::I2C_init()
 
 #if defined(I2C_USE_INTERRUPTS)
   // Setting NVIC
-  NVIC_SetPriority(I2C1_EV_IRQn, 1);  // Match default priorities
+  NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);   // 4 means that we have all bits for preemptive grouping
+  // prio scheme:
+  // systick        : 0
+  // waveform timer : 1
+  // i2c            : 2
+  // one must call NVIC_EncodePriority() to bitshift the priorities
+  // according to the active priority grouping and then use that
+  // value as argument to NVIC_SetPriority().
+  NVIC_SetPriority(I2C1_EV_IRQn,
+		   NVIC_EncodePriority(NVIC_GetPriorityGrouping(),  2, 0));
   NVIC_EnableIRQ(I2C1_EV_IRQn);
-  NVIC_SetPriority(I2C1_ER_IRQn, 1);  // Match default priorities
+  NVIC_SetPriority(I2C1_ER_IRQn,
+		   NVIC_EncodePriority(NVIC_GetPriorityGrouping(),  2, 0));
   NVIC_EnableIRQ(I2C1_ER_IRQn);
 
   // CR2 Interrupt Settings
@@ -305,6 +315,7 @@ void I2CManagerClass::I2C_close() {
  ***************************************************************************/
 void I2CManagerClass::I2C_handleInterrupt() {
   volatile uint16_t temp_sr1, temp_sr2;
+  (void) temp_sr2; // only used as target for reads
 
   temp_sr1 = s->SR1;
 

I2CManager_Wire.h

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

IODevice.cpp

@@ -33,7 +33,9 @@
 
 // Link to halSetup function.  If not defined, the function reference will be NULL.
 extern __attribute__((weak)) void halSetup();
-extern __attribute__((weak)) bool exrailHalSetup();
+extern __attribute__((weak)) bool exrailHalSetup1();
+extern __attribute__((weak)) bool exrailHalSetup2();
+
 
 //==================================================================================================================
 // Static methods
@@ -59,32 +61,46 @@ void IODevice::begin() {
   if (halSetup)
     halSetup();
 
-  // include any HAL devices defined in exrail. 
+  // Include any HAL devices defined in exrail.
+  // The first pass call only creates HAL devices, 
+  // the second pass will apply servo settings etc which can only be 
+  // done after all devices (including the defaults) are created.
+  // If exrailHalSetup1 is not defined, then it will be NULL and the call
+  // will be ignored.
+  // If it returns true, then the default HAL devices will not be created.
+
   bool ignoreDefaults=false;
-  if (exrailHalSetup)
-    ignoreDefaults=exrailHalSetup();
-  if (ignoreDefaults) return;
+  if (exrailHalSetup1)
+    ignoreDefaults=exrailHalSetup1();
   
-  // Predefine two PCA9685 modules 0x40-0x41 if no conflicts
-  // Allocates 32 pins 100-131
-  const bool silent=true; // no message if these conflict
-  if (checkNoOverlap(100, 16, 0x40, silent)) {
-    PCA9685::create(100, 16, 0x40);
-  } 
-
-  if (checkNoOverlap(116, 16, 0x41, silent)) {
-    PCA9685::create(116, 16, 0x41);
-  } 
+  if (!ignoreDefaults) {
   
-  // Predefine two MCP23017 module 0x20/0x21 if no conflicts
-  // Allocates 32 pins 164-195
-  if (checkNoOverlap(164, 16, 0x20, silent)) {
-    MCP23017::create(164, 16, 0x20);
-  } 
+    // Predefine two PCA9685 modules 0x40-0x41 if no conflicts
+    // Allocates 32 pins 100-131
+    const bool silent=true; // no message if these conflict
+    if (checkNoOverlap(100, 16, 0x40, silent)) {
+      PCA9685::create(100, 16, 0x40);
+    } 
 
-  if (checkNoOverlap(180, 16, 0x21, silent)) {
-    MCP23017::create(180, 16, 0x21);
-  } 
+    if (checkNoOverlap(116, 16, 0x41, silent)) {
+      PCA9685::create(116, 16, 0x41);
+    } 
+    
+    // Predefine two MCP23017 module 0x20/0x21 if no conflicts
+    // Allocates 32 pins 164-195
+    if (checkNoOverlap(164, 16, 0x20, silent)) {
+      MCP23017::create(164, 16, 0x20);
+    } 
+
+    if (checkNoOverlap(180, 16, 0x21, silent)) {
+      MCP23017::create(180, 16, 0x21);
+    } 
+  }
+
+  // apply any second pass HAL setup from EXRAIL.
+  // This will typically set up servo profiles, or create turnouts.
+  if (exrailHalSetup2)
+    exrailHalSetup2();
 }
 
 // reset() function to reinitialise all devices
@@ -627,4 +643,3 @@ 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.
@@ -559,17 +560,6 @@ protected:
 
 };
 
-#include "IO_MCP23008.h"
-#include "IO_MCP23017.h"
-#include "IO_PCF8574.h"
-#include "IO_PCF8575.h"
-#include "IO_PCA9555.h"
-#include "IO_duinoNodes.h"
-#include "IO_EXIOExpander.h"
-#include "IO_trainbrains.h"
-#include "IO_EncoderThrottle.h"
-#include "IO_TCA8418.h"
-#include "IO_NeoPixel.h"
-#include "IO_TM1638.h"
+//#include "IODeviceList.h"
 
 #endif // iodevice_h

IODeviceList.h

@@ -0,0 +1,50 @@
+/*
+ *  © 2024, Chris Harlow. All rights reserved.
+ *
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+*/
+/* 
+This is the list of HAL drivers automatically included by IODevice.h
+It has been moved here to be easier to maintain than editing IODevice.h
+*/
+#include "IO_AnalogueInputs.h"
+#include "IO_DFPlayer.h"
+#include "IO_DS1307.h"
+#include "IO_duinoNodes.h"
+#include "IO_EncoderThrottle.h"
+#include "IO_EXFastclock.h"
+#include "IO_EXIOExpander.h"
+#include "IO_EXSensorCAM.h"
+#include "IO_HALDisplay.h"
+#include "IO_HCSR04.h"
+#include "IO_I2CDFPlayer.h"
+#include "IO_I2CRailcom.h"
+#include "IO_MCP23008.h"
+#include "IO_MCP23017.h"
+#include "IO_NeoPixel.h"
+#include "IO_PCA9555.h"
+#include "IO_PCA9685pwm.h"
+#include "IO_PCF8574.h"
+#include "IO_PCF8575.h"
+#include "IO_RotaryEncoder.h"
+#include "IO_Servo.h"
+#include "IO_TCA8418.h"
+#include "IO_TM1638.h"
+#include "IO_TouchKeypad.h"
+#include "IO_trainbrains.h"
+#include "IO_Bitmap.h"
+#include "IO_VL53L0X.h"
+

IO_AnalogueInputs.h

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

IO_Bitmap.h

@@ -0,0 +1,91 @@
+/*
+ *  © 2025, Chris Harlow. All rights reserved.
+ *  
+ *  This file is part of DCC-EX API
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+#ifndef IO_Bitmap_h
+ #define IO_Bitmap_h
+#include <Arduino.h>
+#include "defines.h"
+#include "IODevice.h"
+
+/* 
+Bitmap provides a set of virtual pins with no hardware.
+Bitmap pins are able to be output and input and may be set and tested 
+as digital or analogue values.
+When writing a digital value, the analogue value is set to 0 or 1. 
+When reading a digital value, the return is LOW for value 0 or HIGH for any other value
+or analogue.
+
+Bitmap pins may be used for any purpose, this is easier to manage than LATCH in EXRAIL
+as they can be explicitely set and tested without interfering with underlying hardware.
+Bitmap pins may be set, reset and tested in the same way as any other pin.
+They are not persistent across reboots, but are retained in the current session.
+Bitmap pins may also be monitored by JMRI_SENSOR() and <S> as for any other pin.
+   
+*/
+class Bitmap : public IODevice {
+
+public:
+  static void create(VPIN firstVpin, int nPins) {   
+    if (IODevice::checkNoOverlap(firstVpin,nPins))
+         new Bitmap( firstVpin,  nPins);
+  }
+
+  Bitmap(VPIN firstVpin, int nPins) : IODevice(firstVpin, nPins) {
+    _pinValues=(int16_t *) calloc(nPins,sizeof(int16_t));  
+    // Connect to HAL so my _write, _read and _loop will be called as required.
+    IODevice::addDevice(this);  
+  }
+
+// Called by HAL to start handling this device
+  void _begin() override {
+    _deviceState = DEVSTATE_NORMAL;
+    _display();
+  }
+
+  int _read(VPIN vpin) override {
+    int pin=vpin - _firstVpin;
+    return _pinValues[pin]?1:0;
+  }
+
+  void _write(VPIN vpin, int value) override {
+    int pin = vpin - _firstVpin;
+    _pinValues[pin]=value!=0; // this is digital write  
+  }
+
+  int _readAnalogue(VPIN vpin) override {
+    int pin=vpin - _firstVpin;
+    return _pinValues[pin]; // this is analog read  
+  }
+
+  void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
+    (void)profile; // suppress warning, not used in this function
+    (void)duration; // suppress warning, not used in this function
+    int pin=vpin - _firstVpin;
+    _pinValues[pin]=value; // this is analog write  
+  }
+
+  void _display() override {
+      DIAG(F("Bitmap Configured on Vpins:%u-%u"), 
+      (int)_firstVpin, 
+      (int)_firstVpin+_nPins-1);
+  }
+
+private:
+  int16_t* _pinValues;
+};
+#endif

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_DS1307.cpp

@@ -0,0 +1,143 @@
+/*
+ *  © 2024, Chris Harlow. All rights reserved.
+ *
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+*/
+
+/*
+* The IO_DS1307 device driver is used to interface a standalone realtime clock. 
+* The clock will announce every minute (which will trigger EXRAIL ONTIME events).
+* Seconds, and Day/date info is ignored, except that the announced hhmm time
+* will attempt to synchronize with the 0 seconds of the clock. 
+* An analog read in EXRAIL (IFGTE(vpin, value) etc will check against the hh*60+mm time.
+* The clock can be easily set by an analog write to the vpin using 24 hr clock time
+* with the command <z vpin hh mm ss> 
+*/
+
+#include "IO_DS1307.h"
+#include "I2CManager.h"
+#include "DIAG.h"
+#include "CommandDistributor.h"
+
+uint8_t d2b(uint8_t d) {
+     return (d >> 4)*10 + (d & 0x0F);  
+}
+
+void DS1307::create(VPIN vpin, I2CAddress i2cAddress) {
+    if (checkNoOverlap(vpin, 1, i2cAddress)) new DS1307(vpin, i2cAddress);
+  }
+ 
+    
+  // Constructor
+    DS1307::DS1307(VPIN vpin,I2CAddress i2cAddress){
+      _firstVpin = vpin;
+      _nPins = 1;
+     _I2CAddress = i2cAddress;
+     addDevice(this);
+    }
+
+uint32_t DS1307::getTime() {
+    // Obtain ss,mm,hh buffers from device
+    uint8_t readBuffer[3];
+    const uint8_t writeBuffer[1]={0};
+
+    // address register 0 for read. 
+    I2CManager.write(_I2CAddress, writeBuffer, 1);
+    if (I2CManager.read(_I2CAddress, readBuffer, 3) != I2C_STATUS_OK) {
+       _deviceState=DEVSTATE_FAILED;
+       return 0;
+    } 
+    _deviceState=DEVSTATE_NORMAL;
+
+    if (debug) {
+      static const char hexchars[]="0123456789ABCDEF";
+      USB_SERIAL.print(F("<*RTC"));
+        for (int i=2;i>=0;i--) {
+          USB_SERIAL.write(' ');  
+          USB_SERIAL.write(hexchars[readBuffer[i]>>4]);
+          USB_SERIAL.write(hexchars[readBuffer[i]& 0x0F ]);
+        }
+        StringFormatter::send(&USB_SERIAL,F(" %d *>\n"),_deviceState);
+      }
+    
+    if (readBuffer[0] & 0x80) {
+        _deviceState=DEVSTATE_INITIALISING;
+        DIAG(F("DS1307 clock in standby"));
+        return 0; // clock is not running
+    }
+    // convert device format to seconds since midnight
+    uint8_t ss=d2b(readBuffer[0]  & 0x7F);
+    uint8_t mm=d2b(readBuffer[1]);
+    uint8_t hh=d2b(readBuffer[2] & 0x3F);
+    return (hh*60ul +mm)*60ul +ss;     
+}
+
+void DS1307::_begin()  {
+  // Initialise  device and sync loop() to zero seconds
+    I2CManager.begin(); 
+    auto tstamp=getTime();
+    if (_deviceState==DEVSTATE_NORMAL) {
+        byte seconds=tstamp%60;
+        delayUntil(micros() + ((60-seconds) * 1000000));
+    }
+    _display(); 
+}
+
+// Processing loop to obtain clock time.
+// This self-synchronizes to the next minute tickover
+void DS1307::_loop(unsigned long currentMicros) { 
+    auto time=getTime();
+    if (_deviceState==DEVSTATE_NORMAL) {
+       byte ss=time%60;
+       CommandDistributor::setClockTime(time/60, 1, 1);      
+       delayUntil(currentMicros + ((60-ss) * 1000000));  
+    }
+}
+
+
+  // Display device driver info.
+  void DS1307::_display()  {
+    auto tstamp=getTime();
+    byte ss=tstamp%60;
+    tstamp/=60;
+    byte mm=tstamp%60;
+    byte hh=tstamp/60;
+    DIAG(F("DS1307 on I2C:%s vpin %d %d:%d:%d %S"), 
+      _I2CAddress.toString(), _firstVpin,
+      hh,mm,ss,
+     (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
+  }
+
+  // allow user to set the clock 
+  void DS1307::_writeAnalogue(VPIN vpin, int hh, uint8_t mm, uint16_t ss)  {  
+    (void) vpin;
+    uint8_t writeBuffer[3];
+    writeBuffer[0]=1; // write mm,hh first 
+    writeBuffer[1]=((mm/10)<<4) + (mm % 10);  
+    writeBuffer[2]=((hh/10)<<4) + (hh % 10);  
+    I2CManager.write(_I2CAddress, writeBuffer, 3);
+    writeBuffer[0]=0; // write ss  
+    writeBuffer[1]=((ss/10)<<4) + (ss % 10);  
+    I2CManager.write(_I2CAddress, writeBuffer, 2);
+    _loop(micros()); // resync with seconds rollover
+  }
+   
+  // Method to read analogue hh*60+mm time 
+   int DS1307::_readAnalogue(VPIN vpin) { 
+    (void)vpin; 
+    return getTime()/60;
+  };
+

IO_DS1307.h

@@ -0,0 +1,54 @@
+/*
+ *  © 2024, Chris Harlow. All rights reserved.
+ *
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+*/
+
+/*
+* The IO_DS1307 device driver is used to interface a standalone realtime clock. 
+* The clock will announce every minute (which will trigger EXRAIL ONTIME events).
+* Seconds, and Day/date info is ignored, except that the announced hhmm time
+* will attempt to synchronize with the 0 seconds of the clock. 
+* An analog read in EXRAIL (IFGTE(vpin, value) etc will check against the hh*60+mm time.
+* The clock can be easily set by an analog write to the vpin using 24 hr clock time
+* with the command <z vpin hh mm ss> 
+*/
+
+#ifndef IO_DS1307_h
+#define IO_DS1307_h
+
+
+#include "IODevice.h"
+
+class DS1307 : public IODevice {
+public: 
+  static const bool debug=false; 
+  static void create(VPIN vpin, I2CAddress i2cAddress);
+ 
+    
+private:
+  
+  // Constructor
+    DS1307(VPIN vpin,I2CAddress i2cAddress);
+    uint32_t getTime();
+    void _begin() override;
+    void _display() override;
+    void _loop(unsigned long currentMicros) override;
+    int _readAnalogue(VPIN vpin) override;
+    void _writeAnalogue(VPIN vpin, int hh, uint8_t mm, uint16_t ss)  override;
+};
+ 
+#endif

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 306
+// v306 Pass vpin to regeister it in CamParser.
+//      Move base vpin to camparser. 
+//      No more need for config.h settings.
+// 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.
+ *
+ * To create EX-SensorCAM devices, 
+ *  use HAL(EXSensorCAM, baseVpin, numpins, i2c_address) in myAutomation.h
+ * e.g.  
+ *   HAL(EXSensorCAM,700, 80, 0x11)
+ * 
+ * or (deprecated) define them in myHal.cpp: with
+ * EXSensorCAM::create(baseVpin,num_vpins,i2c_address);
+ * 
+*/
+#ifndef IO_EX_EXSENSORCAM_H
+#define IO_EX_EXSENSORCAM_H
+#define DIGITALREFRESH 20000UL      // min uSec delay between digital reads of digitalInputStates
+#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);
+    }
+  																
+    					   
+
+  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);
+      CamParser::addVpin(firstVpin); 
+    }
+//*************************
+void _begin() {
+    uint8_t status;
+    // Initialise EX-SensorCAM device
+    I2CManager.setClock(100000);  // Set speed for I2C operations
+    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

@@ -24,6 +24,7 @@
 */
 
 #include "IODevice.h"
+#include "IO_EncoderThrottle.h"
 #include "DIAG.h"
 #include "DCC.h"
 
@@ -71,6 +72,8 @@ const byte _DIR_MASK = 0x30;
   
 
   void EncoderThrottle::_loop(unsigned long currentMicros)  {
+    (void) currentMicros; // suppress warning
+
     if (_locoid==0) return;  // not in use
     
     // Clicking down on the roco, stops the loco and sets the direction as unknown.
@@ -117,9 +120,10 @@ const byte _DIR_MASK = 0x30;
         }
 }
 
-  // Selocoid as analog value to start drive
+  // Set locoid as analog value to start drive
   // use <z vpin locoid [notch]>
   void EncoderThrottle::_writeAnalogue(VPIN vpin, int value, uint8_t param1, uint16_t param2)  {  
+    (void)vpin; // not used, but needed to match IODevice interface
     (void) param2;
     _locoid=value;
     if (param1>0) _notch=param1;
@@ -141,4 +145,3 @@ 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_I2CDFPlayer.h

@@ -197,6 +197,7 @@ public:
   // Check for incoming data, and update busy flag and other state accordingly
  
   void processIncoming(unsigned long currentMicros) {
+    (void)currentMicros; // suppress warning, not used in this function
     // Expected message is in the form "7E FF 06 3D xx xx xx xx xx EF"
     RX_fifo_lvl();
     if (FIFO_RX_LEVEL >= 10) {      
@@ -308,7 +309,7 @@ public:
           sendPacket(0x0C,0,0);
           _resetCmd = false;          
       } else if(_volCmd == true) { // do the volme before palying a track
-         if(_requestedVolumeLevel >= 0 && _requestedVolumeLevel <= 30){         
+         if(_requestedVolumeLevel <= 30) {         
          _currentVolume = _requestedVolumeLevel; // If _requestedVolumeLevel is out of range, sent _currentV1olume      
          }
          sendPacket(0x06, 0x00, _currentVolume);
@@ -407,6 +408,9 @@ public:
 
   // Write to a vPin will do nothing
   void _write(VPIN vpin, int value) override {
+    (void)vpin; // suppress warning, not used in this function
+    (void)value; // suppress warning, not used in this function
+    
     if (_deviceState == DEVSTATE_FAILED) return;
       #ifdef DIAG_IO
         DIAG(F("I2CDFPlayer: Writing to any vPin not supported"));
@@ -511,6 +515,7 @@ public:
       if (pin == 0) { // Do nothing if not vPin 0
         return _playing;
       }
+      return _playing; // fix for compile error: "control reaches end of non-void function [-Wreturn-type]"
     }
 
   void _display() override {
@@ -549,8 +554,8 @@ private:
     setChecksum(out);
 
       // Prepend the DFPlayer command with REG address and UART Channel in _outbuffer
-      _outbuffer[0] = REG_THR << 3 | _UART_CH << 1; //TX FIFO and UART Channel      
-      for ( int i = 1; i < sizeof(out)+1 ; i++){
+      _outbuffer[0] = REG_THR << 3 | _UART_CH << 1; //TX FIFO and UART Channel            
+      for ( uint8_t i = 1; i < sizeof(out)+1 ; i++){
         _outbuffer[i] = out[i-1];
       }
 
@@ -616,6 +621,14 @@ private:
     uint16_t _divisor = (_sc16is752_xtal_freq/PRESCALER)/(BAUD_RATE * 16);  // Calculate _divisor for baudrate
     TEMP_REG_VAL = 0x08; // UART Software reset
     UART_WriteRegister(REG_IOCONTROL, TEMP_REG_VAL);
+
+    // Extra delay when using low frequency xtal after soft reset
+    // Test when using 1.8432 Mhz xtal
+    if(_sc16is752_xtal_freq == SC16IS752_XTAL_FREQ_LOW){
+      _timeoutTime = micros() + 10000UL;  // 10mS timeout      
+      _awaitingResponse = true;
+    }
+
     TEMP_REG_VAL = 0x00; // Set pins to GPIO mode
     UART_WriteRegister(REG_IOCONTROL, TEMP_REG_VAL);
     TEMP_REG_VAL = 0xFF; //Set all pins as output

IO_I2CRailcom.cpp

@@ -0,0 +1,122 @@
+   /*
+ *  © 2024, Henk Kruisbrink & Chris Harlow. All rights reserved.
+ *  © 2023, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC++EX API
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+/*
+ * 
+ * Dec 2023, Added NXP SC16IS752 I2C Dual UART
+ * The SC16IS752 has 64 bytes TX & RX FIFO buffer
+ * First version without interrupts from I2C UART and only RX/TX are used, interrupts may not be
+ * needed as the RX Fifo holds the reply 
+ * 
+ * Jan 2024, Issue with using both UARTs simultaniously, the secod uart seems to work  but the first transmit 
+ * corrupt data. This need more analysis and experimenatation. 
+ * Will push this driver to the dev branch with the uart fixed to 0 
+ * Both SC16IS750 (single uart) and SC16IS752 (dual uart, but only uart 0 is enable)
+ * 
+ * myHall.cpp configuration syntax:
+ * 
+ * I2CRailcom::create(1st vPin, vPins, I2C address);
+ * 
+ * myAutomation configuration
+ *  HAL(I2CRailcom, 1st vPin, vPins, I2C address)
+ * Parameters:
+ * 1st vPin     : First virtual pin that EX-Rail can control to play a sound, use PLAYSOUND command (alias of ANOUT)
+ * vPins        : Total number of virtual pins allocated (to prevent overlaps)
+ * I2C Address  : I2C address of the serial controller, in 0x format
+ */
+
+#include "IODevice.h"
+#include "IO_I2CRailcom.h"
+#include "I2CManager.h"
+#include "DIAG.h"
+#include "DCC.h"
+#include "DCCWaveform.h"
+#include "Railcom.h"
+
+
+I2CRailcom::I2CRailcom(VPIN firstVpin, int nPins, I2CAddress i2cAddress){
+    _firstVpin = firstVpin;
+    _nPins = nPins;
+    _I2CAddress = i2cAddress;
+    addDevice(this);
+   } 
+  
+void I2CRailcom::create(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
+    if (checkNoOverlap(firstVpin, nPins, i2cAddress)) 
+    new I2CRailcom(firstVpin,nPins,i2cAddress); 
+    }
+
+  void I2CRailcom::_begin() {
+    I2CManager.setClock(1000000); // TODO do we need this?
+    I2CManager.begin();
+    auto exists=I2CManager.exists(_I2CAddress);
+    DIAG(F("I2CRailcom: %s RailcomCollector %S detected"), 
+           _I2CAddress.toString(), exists?F(""):F(" NOT"));
+    if (!exists) return;
+  
+    _deviceState=DEVSTATE_NORMAL;
+    _display();
+    }
+  
+  
+  void I2CRailcom::_loop(unsigned long currentMicros) {
+    (void)currentMicros; // not used, but needed to match IODevice interface
+    // Read responses from device
+    if (_deviceState!=DEVSTATE_NORMAL) return;
+    
+    // have we read this cutout already?
+    // basically we only poll once per packet when railcom cutout is working
+    auto cut=DCCWaveform::getRailcomCutoutCounter();
+    if (cutoutCounter==cut) return; 
+    cutoutCounter=cut; 
+    Railcom::loop(); // in case a csv read has timed out 
+    
+    // Obtain data length from the collector
+    byte inbuf[1];
+    byte queryLength[]={'?'};
+    auto state=I2CManager.read(_I2CAddress, inbuf, 1,queryLength,sizeof(queryLength)); 
+    if (state) {
+      DIAG(F("RC ? state=%d"),state);
+      return;
+    }
+    auto length=inbuf[0];
+    if (length==0) return;  // nothing to report 
+
+    // Build a buffer and import the data from the collector
+    byte inbuf2[length];
+    byte queryData[]={'>'};
+    state=I2CManager.read(_I2CAddress, inbuf2, length,queryData,sizeof(queryData)); 
+    if (state) {
+      DIAG(F("RC > %d state=%d"),length,state);
+      return;
+    }
+    
+    // process incoming data buffer 
+    Railcom::process(_firstVpin,inbuf2,length);
+     
+  }
+          
+ 
+  void I2CRailcom::_display() {
+    DIAG(F("I2CRailcom: %s blocks %d-%d  %S"), _I2CAddress.toString(), _firstVpin, _firstVpin+_nPins-1,
+      (_deviceState!=DEVSTATE_NORMAL) ? F("OFFLINE") : F(""));
+  }
+  
+  

IO_I2CRailcom.h

@@ -0,0 +1,58 @@
+/*
+ *  © 2024, Henk Kruisbrink & Chris Harlow. All rights reserved.
+ *  © 2023, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC++EX API
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+/*
+ * This polls the RailcomCollecter device once per dcc packet
+ * and obtains an abbreviated list of block occupancy changes which
+ * are fortunately very rare compared with Railcom raw data. 
+ *
+ * myAutomation configuration
+ *  HAL(I2CRailcom, 1st vPin, vPins, I2C address)
+ * Parameters:
+ * 1st vPin     : First virtual pin that EX-Rail can control to play a sound, use PLAYSOUND command (alias of ANOUT)
+ * vPins        : Total number of virtual pins allocated 
+ * I2C Address  : I2C address of the Railcom Collector, in 0x format
+ */
+
+#ifndef IO_I2CRailcom_h
+#define IO_I2CRailcom_h
+#include "Arduino.h"
+#include "IODevice.h"
+
+class I2CRailcom : public IODevice {
+private: 
+  byte cutoutCounter;
+  public:
+  // Constructor
+  I2CRailcom(VPIN firstVpin, int nPins, I2CAddress i2cAddress);
+  
+  static void create(VPIN firstVpin, int nPins, I2CAddress i2cAddress) ;
+  
+  void _begin() ;
+  void _loop(unsigned long currentMicros) override ;
+  void _display() override ;
+  
+private: 
+
+
+  
+};
+
+#endif // IO_I2CRailcom_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_PCA9554.h

@@ -0,0 +1,101 @@
+/*
+ *  © 2025, Paul M. Antoine
+ *  © 2021, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC-EX API
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef io_pca9554_h
+#define io_pca9554_h
+
+#include "IO_GPIOBase.h"
+#include "FSH.h"
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ * IODevice subclass for PCA9554/TCA9554 8-bit I/O expander (NXP & Texas Instruments).
+ */
+ 
+class PCA9554 : public GPIOBase<uint8_t> {
+public:
+  static void create(VPIN vpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1) {
+    if (checkNoOverlap(vpin, nPins, i2cAddress)) new PCA9554(vpin,nPins, i2cAddress, interruptPin);
+  }
+
+private:  
+  // Constructor
+  PCA9554(VPIN vpin, uint8_t nPins, I2CAddress I2CAddress, int interruptPin=-1) 
+    : GPIOBase<uint8_t>((FSH *)F("PCA9554"), vpin, nPins, I2CAddress, interruptPin) 
+  {
+    requestBlock.setRequestParams(_I2CAddress, inputBuffer, sizeof(inputBuffer),
+      outputBuffer, sizeof(outputBuffer));
+    outputBuffer[0] = REG_INPUT_P0;
+  }
+  void _writeGpioPort() override {
+    I2CManager.write(_I2CAddress, 2, REG_OUTPUT_P0, _portOutputState);
+  }
+  void _writePullups() override {
+    // Do nothing, pull-ups are always in place for input ports
+    // This function is here for HAL GPIOBase API compatibilitiy
+      
+  }
+  void _writePortModes() override {
+    // Write 0 to REG_CONF_P0 for in-use pins that are outputs, 1 for others.
+    // PCA9554 & TCA9554, Interrupt is always enabled for raising and falling edge
+    uint8_t temp = ~(_portMode & _portInUse);
+    I2CManager.write(_I2CAddress, 2, REG_CONF_P0, temp);    
+  }
+  void _readGpioPort(bool immediate) override {
+    if (immediate) {
+      uint8_t buffer[1];
+      I2CManager.read(_I2CAddress, buffer, 1, 1, REG_INPUT_P0);
+      _portInputState = buffer[0];
+    } 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 = inputBuffer[0];
+    else  
+      _portInputState = 0xff;
+  }
+
+  void _setupDevice() override {
+    // HAL API calls
+    _writePortModes();
+    _writePullups();
+    _writeGpioPort();
+  }
+ 
+  uint8_t inputBuffer[1];
+  uint8_t outputBuffer[1];
+ 
+
+  enum {
+    REG_INPUT_P0 = 0x00,
+    REG_OUTPUT_P0 = 0x01,
+    REG_POL_INV_P0 = 0x02,
+    REG_CONF_P0 = 0x03,
+  };
+
+};
+
+#endif

IO_PCA9685pwm.h

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

IO_PCF8574.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2025 Herb Morton
  *  © 2022 Paul M Antoine
  *  © 2021, Neil McKechnie. All rights reserved.
  *  
@@ -43,15 +44,21 @@
 
 class PCF8574 : public GPIOBase<uint8_t> {
 public:
-  static void create(VPIN firstVpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1) {
-    if (checkNoOverlap(firstVpin, nPins, i2cAddress)) new PCF8574(firstVpin, nPins, i2cAddress, interruptPin);
+  static void create(VPIN firstVpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1, int initPortState=-1) {
+    if (checkNoOverlap(firstVpin, nPins, i2cAddress)) new PCF8574(firstVpin, nPins, i2cAddress, interruptPin, initPortState);
   }
 
 private:
-  PCF8574(VPIN firstVpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1)
+  PCF8574(VPIN firstVpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1, int initPortState=-1)
     : GPIOBase<uint8_t>((FSH *)F("PCF8574"), firstVpin, nPins, i2cAddress, interruptPin) 
   {
     requestBlock.setReadParams(_I2CAddress, inputBuffer, 1);
+    if (initPortState>=0) {
+      _portMode = 255;         // set all pins to output mode
+      _portInUse = 255;        // 8 ports in use 
+      _portOutputState = initPortState;  // initialize pins low-high 0-255
+      I2CManager.write(_I2CAddress, 1, initPortState);
+    }
   }
   
   // The PCF8574 handles inputs by applying a weak pull-up when output is driven to '1'.
@@ -101,4 +108,4 @@ private:
   uint8_t inputBuffer[1];
 };
 
-#endif
+#endif

IO_PCF8575.h

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

IO_RotaryEncoder.h

@@ -136,6 +136,7 @@ private:
 
   // Return the position sent by the rotary encoder software
   int _readAnalogue(VPIN vpin) override {
+    (void)vpin; // suppress warning, not used in this function
     if (_deviceState == DEVSTATE_FAILED) return 0;
     return _position;
   }
@@ -153,6 +154,8 @@ private:
   // To be valid, must be 0 to 255, and different to the current position
   // If the current position is the same, it was initiated by the rotary encoder
   void _writeAnalogue(VPIN vpin, int position, uint8_t profile, uint16_t duration) override {
+    (void)profile; // suppress warning, not used in this function
+    (void)duration; // suppress warning, not used in this function
     if (vpin == _firstVpin + 2) {
       if (position >= 0 && position <= 255 && position != _position) {
         byte newPosition = position & 0xFF;

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

@@ -22,6 +22,7 @@
 
 #include <Arduino.h>
 #include "IODevice.h"
+#include "IO_TM1638.h"
 #include "DIAG.h"
 
    
@@ -213,5 +214,3 @@ 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
-}
+}

LocoTable.cpp

@@ -0,0 +1,130 @@
+/* Copyright (c) 2023 Harald Barth
+ *
+ * This source 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.
+ *
+ * This source 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 this software.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include "LocoTable.h"
+
+LocoTable::LOCO LocoTable::speedTable[MAX_LOCOS] = { {0,0,0,0,0,0} };
+int LocoTable::highestUsedReg = 0;
+
+int LocoTable::lookupSpeedTable(int locoId, bool autoCreate) {
+  // determine speed reg for this loco
+  int firstEmpty = MAX_LOCOS;
+  int reg;
+  for (reg = 0; reg < MAX_LOCOS; reg++) {
+    if (speedTable[reg].loco == locoId) break;
+    if (speedTable[reg].loco == 0 && firstEmpty == MAX_LOCOS) firstEmpty = reg;
+  }
+
+  // return -1 if not found and not auto creating
+  if (reg == MAX_LOCOS && !autoCreate) return -1; 
+  if (reg == MAX_LOCOS) reg = firstEmpty;
+  if (reg >= MAX_LOCOS) {
+    //DIAG(F("Too many locos"));
+    return -1;
+  }
+  if (reg==firstEmpty){
+        speedTable[reg].loco = locoId;
+        speedTable[reg].speedCode=128;  // default direction forward
+        speedTable[reg].groupFlags=0;
+        speedTable[reg].functions=0;
+  }
+  if (reg > highestUsedReg) highestUsedReg = reg;
+  return reg;
+}
+
+// returns false only if loco existed but nothing was changed
+bool LocoTable::updateLoco(int loco, byte speedCode) {
+  if (loco==0) {
+    /*
+     // broadcast stop/estop but dont change direction
+     for (int reg = 0; reg < highestUsedReg; reg++) {
+       if (speedTable[reg].loco==0) continue;
+       byte newspeed=(speedTable[reg].speedCode & 0x80) |  (speedCode & 0x7f);
+       if (speedTable[reg].speedCode != newspeed) {
+         speedTable[reg].speedCode = newspeed;
+         CommandDistributor::broadcastLoco(reg);
+       }
+     }
+    */
+     return true;
+  }
+
+  // determine speed reg for this loco
+  int reg=lookupSpeedTable(loco, false);
+  if (reg>=0) {
+    speedTable[reg].speedcounter++;
+    if (speedTable[reg].speedCode!=speedCode) {
+      speedTable[reg].speedCode = speedCode;
+      return true;
+    } else {
+      return false;
+    }
+  } else {
+    // new
+    reg=lookupSpeedTable(loco, true);
+    if(reg >=0) speedTable[reg].speedCode = speedCode;
+    return true;
+  }
+}
+
+bool LocoTable::updateFunc(int loco, byte func, int shift) {
+  unsigned long previous;
+  unsigned long newfunc;
+  bool retval = false; // nothing was touched
+  int reg = lookupSpeedTable(loco, false);
+  if (reg < 0) { // not found
+    retval = true;
+    reg = lookupSpeedTable(loco, true);
+    newfunc = previous = 0;
+  } else {
+    newfunc = previous = speedTable[reg].functions;
+  }
+
+  speedTable[reg].funccounter++;    
+
+  if(shift == 1) { // special case for light
+    newfunc &= ~1UL;
+    newfunc |= ((func & 0B10000) >> 4);
+  }
+  newfunc &= ~(0B1111UL << shift);
+  newfunc |=  ((func & 0B1111) << shift);
+
+  if (newfunc != previous) {
+    speedTable[reg].functions = newfunc;
+    retval = true;
+  }
+  return retval;
+}
+
+void LocoTable::dumpTable(Stream *output) {
+  output->print("\n-----------Table---------\n");
+  for (byte reg = 0; reg <= highestUsedReg; reg++) {
+    if (speedTable[reg].loco != 0) {
+      output->print(speedTable[reg].loco);
+      output->print(' ');
+      output->print(speedTable[reg].speedCode);
+      output->print(' ');
+      output->print(speedTable[reg].functions);
+      output->print(" #funcpacks:");
+      output->print(speedTable[reg].funccounter);
+      output->print(" #speedpacks:");
+      output->print(speedTable[reg].speedcounter);
+      speedTable[reg].funccounter = 0;
+      speedTable[reg].speedcounter = 0;
+      output->print('\n');
+    }
+  }
+}

LocoTable.h

@@ -0,0 +1,44 @@
+/* Copyright (c) 2023 Harald Barth
+ *
+ * This source 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.
+ *
+ * This source 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 this software.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#include <Arduino.h>
+
+#include "DCC.h" // fetch MAX_LOCOS from there
+
+class LocoTable {
+public:
+  void forgetLoco(int cab) {
+    int reg=lookupSpeedTable(cab, false);
+    if (reg>=0) speedTable[reg].loco=0;
+  }
+  static int lookupSpeedTable(int locoId, bool autoCreate);
+  static bool updateLoco(int loco, byte speedCode);
+  static bool updateFunc(int loco, byte func, int shift);
+  static void dumpTable(Stream *output);
+
+private:
+  struct LOCO
+  {
+    int loco;
+    byte speedCode;
+    byte groupFlags;
+    unsigned long functions;
+    unsigned int funccounter;
+    unsigned int speedcounter;
+  };
+  static LOCO speedTable[MAX_LOCOS];
+  static int highestUsedReg;
+};

MotorDriver.cpp

@@ -242,7 +242,7 @@ void MotorDriver::setPower(POWERMODE mode) {
     // when switching a track On, we need to check the crrentOffset with the pin OFF
     if (powerMode==POWERMODE::OFF && currentPin!=UNUSED_PIN) {
         senseOffset = ADCee::read(currentPin);
-        DIAG(F("Track %c sensOffset=%d"),trackLetter,senseOffset);
+        if (Diag::ACK) DIAG(F("Track %c sensOffset=%d"),trackLetter,senseOffset);
     }
 
     IODevice::write(powerPin,invertPower ? LOW : HIGH);

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,

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

Railcom.cpp

@@ -0,0 +1,82 @@
+/*
+ *  © 2025 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of DCC-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include "Railcom.h"
+#include "DCC.h"
+#include "DCCWaveform.h"
+
+uint16_t Railcom::expectLoco=0;
+uint16_t Railcom::expectCV=0;
+unsigned long Railcom::expectWait=0;
+ACK_CALLBACK Railcom::expectCallback=0;
+
+// anticipate is used when waiting for a CV read from a railcom loco
+void Railcom::anticipate(uint16_t loco, uint16_t cv, ACK_CALLBACK callback) { 
+    expectLoco=loco;
+    expectCV=cv;
+    expectWait=millis(); // start of timeout 
+    expectCallback=callback;
+}
+
+// process is called to handle data buffer sent by collector
+void Railcom::process(int16_t firstVpin,byte * buffer, byte length) { 
+    //  block,locohi,locolow
+    //  block|0x80,data pom read cv
+    byte i=0; 
+    while (i<length) {
+        byte block=buffer[i] & 0x3f;
+        byte type=buffer[i]>>6;
+
+        switch (type) {
+            // a type=0 record has block,locohi,locolow
+            case 0: {
+                uint16_t locoid= ((uint16_t)buffer[i+1])<<8 | ((uint16_t)buffer[i+2]);
+                DIAG(F("RC3 b=%d l=%d"),block,locoid);
+        
+                if (locoid==0) DCC::clearBlock(firstVpin+block);
+                else DCC::setLocoInBlock(locoid,firstVpin+block,true);
+                i+=3;
+            }
+            break;
+       case 2: { // csv value from POM read
+            byte value=buffer[i+1];
+            if (expectCV && DCCWaveform::getRailcomLastLocoAddress()==expectLoco) {
+                DCC::setLocoInBlock(expectLoco,firstVpin+block,false);
+                if (expectCallback) expectCallback(value);
+                expectCV=0;
+            }
+            i+=2;
+        }
+         break;
+         default:
+          DIAG(F("Unknown RC Collector code %d"),type);
+          return;
+        }
+      }
+    }
+
+
+// loop() is called to detect timeouts waiting for a POM read result
+void Railcom::loop() {
+    if (expectCV && (millis()-expectWait)> POM_READ_TIMEOUT) { // still waiting 
+                expectCallback(-1);
+                expectCV=0;
+    }
+}

Railcom.h

@@ -0,0 +1,40 @@
+/*
+ *  © 202 5Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of DCC-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef Railcom_h
+#define Railcom_h
+#include "Arduino.h"
+
+typedef void (*ACK_CALLBACK)(int16_t result);
+
+class Railcom {
+  public:
+    static void anticipate(uint16_t loco, uint16_t cv, ACK_CALLBACK callback);
+    static void process(int16_t firstVpin,byte * buffer, byte length );
+    static void loop();
+  private:
+    static const unsigned long POM_READ_TIMEOUT=500; // as per spec
+    static uint16_t expectCV,expectLoco;
+    static unsigned long expectWait;
+    static ACK_CALLBACK expectCallback;
+    static const byte MAX_WAIT_FOR_GLITCH=20; // number of dead or empty packets before assuming loco=0 
+};
+
+#endif

Release_Notes/IO_Bitmap.md

@@ -0,0 +1,58 @@
+Virtual Bitmap device pins.
+
+a Bitmap device pin is a software representation of a virtual hardware device that has the ability to store a 16bit value.
+
+This this is easier to manage than LATCH in EXRAIL as they can be explicitely set and tested without interfering with underlying hardware or breaching the 255 limit.
+
+Virtual pins may be set, reset and tested in the same way as any other pin. Unlike sensors and leds, these device pins are both INPUT and OUTPUT  These can be used in many ways:
+
+  As a simple digital flag to assist in inter-thread communication.
+  A flag or value that can be set from commands and tested in EXRAIL.(e.g. to stop a sequence)
+  As a counter for looping or occupancy counts such as trains passing over a multi track road crossing.
+  As a collection of 16 digital bits that can be set, reset, toggled, masked and tested.
+  
+  Existing <> and exrail commands for vpins work on these pins.  
+
+  Virtual pin creation:
+    HAL(Bitmap,firstpin,npins) 
+       creates 1 or more virtual pins in software. (RAM requirement approximately 2 bytes per pin)
+       e.g. HAL(Bitmap,1000,20)  creates pins 1000..1019
+
+  Simple use as flags:
+    This uses the traditional digital pin commands
+       SET(1013) RESET(1013)  sets value 1 or 0
+       SET(1000,20) RESET(1000,20)  sets/resets a range of pins  
+       IF(1000) tests if pin value!=0
+
+       Commands can set 1/0 values using <z 1010> <z -1010> as for any digital output.
+       BLINK can be used to set them on/off on a time pattern. 
+
+       In addition, Exrail sensor comands work as if these pins were sensors
+          ONBUTTON(1013) triggers when value changes from 0 to something.
+          ONSENSOR(1013) triggers when value changes to or from 0.
+          <S 1013 1013 1> and JMRI_SENSOR(1013) report <Q/q responses when changing to or from 0.
+
+    Use as analog values:
+          Analog values may be set into the virtual pins and tested using the existing analog value commands and exrail macros.
+          <z vpin value>  <D ANIN vpin> etc.
+
+    Use as counters:
+        For loop counting, counters can be incremented by BITMAP_INC(1013) and decremented by BITMAP_DEC(1013) and tested with IF/IFNOT/IFGTE etc.
+        Counters be used to automate a multi track crossing where each train entering increments the counter and decrements it on clearing the crossing. Crossing gate automation can be started when the value changes from 0, and be stopped when the counter returns to 0.  Detecting the first increment from 0 to 1 can be done with ONBUTTON(1013) and the automation can use IF(1013) or IFNOT(1013) to detect when it needs to reopen the road gates. 
+
+Use as binary flag groups: 
+    Virtual pins (and others that respond to an analog read in order to provide bitmapped digital data, such as SensorCam) can be set and tested with new special EXRAIL commands
+
+    IFBITMAP_ALL(vpin,mask)   Bitwise ANDs the  the vpin value with the mask value and is true if ALL the 1 bits in the mask are also 1 bits in the value. 
+    e.g.    IFBITMAP_ALL(1013,0x0f)  would be true if ALL the last 4 bits of the value are 1s.
+ 
+    IFBITMAP_ANY(1013,0x0f) would be true if ANY of the last 4 bits are 1s.
+
+
+     Modifying bitmap values:
+      BITMAP_AND(vpin,mask) performs a bitwise AND operation.
+      BITMAP_OR(vpin,mask)  performa a bitwise OR operation
+      BITMAP_XOR(vpin,mask) performs a bitwise EXCLUSIVE OR (which is basically a toggle)   
+
+
+                      

Release_Notes/Railcom.md

@@ -0,0 +1,71 @@
+Railcom implementation notes, Chris Harlow Oct 2024
+
+Railcom support is in 3 parts
+1. Generation of the DCC waveform with a Railcom cutout.
+2. Accessing the railcom feedback from a loco using hardware detectors
+3. Utilising the feedback to do something useful.
+
+DCC Waveform Railcom cutout depends on using suitable motor shields (EX8874 primarily) as the standard Arduino shield is not suitable. (Too high resistance during cutout)
+The choice of track management also depends on wiring all the MAIN tracks to use the same signal and brake pins. This allows separate track power management but prevents switching a single track from MAIN to PROG or DC... 
+Some CPUs require very specific choice of brake pins etc to match their internal timer register architecture.
+
+- MEGA.. The default shield setting for an EX8874 is suitable for Railcom on Channel A (MAIN) 
+- ESP32 .. not yet supported.
+- Nucleo ... TBA 
+
+Enabling the Railcom Cutout requires a `<C RAILCOM ON>` command. This can be added to myAutomation using `PARSE("<C RAILCOM ON>")`
+Code to calculate the cutout position and provide synchronization for the sampling is in `DCCWaveform.cpp` (not ESP32)
+and in general a global search for "railcom" will show all code changes that have been made to support this.
+
+Code to actually implement the timing of the cutout is highly cpu dependent and can be found in the various implementations of `DCCTimer.h`. At this time only `DCCTimerAVR.cpp`has implemented this.  
+
+
+Reading Railcom data:
+  A new HAL handler (`IO_I2CRailcom.h`) has been added to process input from a 32-block railcom collecter which operates over I2C. The collector and its readers  sit between the CS and the track and collect railcom data from locos during the cutout.
+  The Collector device removes 99.9% of the railcom traffic and returns just a summary of what has changed since the last cutout.
+  After the cutout the HAL driver reads the Collector summary over I2C and passes the raw data to the CS logic (`Railcom.cpp`) for analysis.
+
+  Each 32-block reader is described in myAutomation like `HAL(I2CRailcom,10000,32,0x08)`  which will assign 32 blocks on i2c address 0x08 with vpin numbers 10000 and 10031. If you only use fewer channel in the collector, you can assign fewer pins here.
+  (Implementation notes.. you may have multiple collectors, each one will requite a HAL line to define its i2c address and vpins to represent block numbers.)
+
+Making use of Railcom data
+
+ Exrail has two additional event handlers which can capture locos entering and exiting blocks. These handlers are started with the loco information already set, so for example:
+ ```
+ ONBLOCKENTER(10000) 
+    // a loco has entered block 10000 
+    FON(0)  // turn the light on
+    FON(1)  // make a lot of noise
+    SPEED(20) // slow down
+    DONE 
+ 
+ ONBLOCKEXIT(10000) 
+    // a loco has left block 10000 
+    FOFF(0)  // turn the light off
+    FOFF(1)  // stop the noise
+    SPEED(50) // speed up again
+    DONE 
+    ```
+
+    Note that the Railcom interpretation code is capable of detecting multiple locos in the same block at the same time and will create separate exrail tasks for each one.
+     There is however one minor loophole in the block exit logic...
+      If THREE or more locos are in the same block and ONE of them leaves, then ONBLOCKEXIT will not fire until 
+      EITHER - The leaving loco enters another railcom block
+      OR     - only ONE loco remains in the block just left.
+
+      To further support block management in railcom, two additional serial commands are available
+
+      `<K block loco >` to simulate a loco entering a block, and trigger any ONBLOCKENTER
+      `<k block loco >` to simulate a loco leaving a block, and trigger and ONBLOCKEXIT
+
+
+   Reading CV values on MAIN.
+
+      Railcom allows for the facility to read loco cv values while on the main track. This is considerably faster than PROG track access but depends on the loco being in a Railcom monitored block. 
+
+      To read from PROG Track we use `<R cv>` response is `<r value>` 
+
+      To read from MAIN track use `<r loco cv>`
+        response is `<r loco cv value>`  
+
+     

Release_Notes/Stash.md

@@ -0,0 +1,21 @@
+# The STASH feature of exrail.
+
+STASH is used for scenarios where it is helpful to relate a loco id to where it is parked. For example a fiddle yard may have 10 tracks and it's much easier for the operator to select a train to depart by using the track number, or pressing a button relating to that track, rather than by knowing the loco id which may be difficult to see.
+
+Automated yard parking can use the stash to determine which tracks are empty without the need for block occupancy detectors.
+
+Note that a negative locoid may be stashed to indicate that the loco will operate with inverted direction. For example a loco facing backwards, with the INVERT_DRECTION state may be stashed by exrail and the invert state will be restored along with the loco id when using the PICKUP_STASH.  CLEAR_ANY_STASH will clear all references to the loco regardless of direction. 
+
+The following Stash  commands are available:
+ | EXRAIL command | Serial protocol | function |
+ | -------------- | --------------- | -------- | 
+ | STASH(s) | `<JM s locoid>` | Save the current loco id in the stash array element s. |
+ | CLEAR_STASH(s) | `<JM s 0>` | Sets stash array element s to zero. |  
+ | CLEAR_ALL_STASH | `<JM CLEAR ALL>` | sets all stash entries to zero |
+ | CLEAR_ANY_STASH | `<JM CLEAR ANY locoid>` | removes current loco from all stash elements | 
+ | PICKUP_STASH(s) | N/A | sets current loco to stash element s |
+ | IFSTASH(s)  | N/A | True if stash element s is not zero |
+ | N/A | `<JM>`  | query all stashes (returns `<jM s loco>` where loco is not zero)
+ | N/A | `<JM stash>` | Query loco in stash (returns `<jM s loco>`)  
+
+

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.
+

Release_Notes/momentum.md

@@ -0,0 +1,29 @@
+New Momentum feature notes:
+
+The command station can apply momentum to throttle movements in the same way that a standards compliant DCC decoder can be set to do. This momentum can be defaulted system wide and overridden on individual locos. It does not use or alter the loco CV values and so it also works when driving DC locos.
+The momentum is applied regardless of the throttle type used (or even EXRAIL). 
+
+Momentum is specified in mS / throttle_step.
+
+There is a new command `<m cabid accelerating [brake]>`
+where the brake value defaults to the accelerating value.
+
+For example: 
+`<m 3 0>`   sets loco 3 to no momentum.
+`<m 3 21>`   sets loco 3 to 21 mS/step.
+`<m 3 21 42>`   sets loco 3 to 21 mS/step accelerating and 42 mS/step when decelerating.
+
+`<m 0 21>`  sets the default momentum to 21mS/Step for all current and future locos that have not been specifically set.
+`<m 3 -1>`   sets loco 3 to track the default momentum value. 
+
+EXRAIL
+  A new macro `MOMENTUM(accel [, decel])` sets the momentum value of the current tasks loco ot the global default if loco=0. 
+
+Note: Setting Momentum 7,14,21 etc is similar in effect to setting a decoder CV03/CV04 to 1,2,3.   
+
+As an additional option, the momentum calculation is based on the 
+difference in throttle setting and actual speed. For example, the time taken to reach speed 50 from a standing start would be less if the throttle were set to speed 100, thus increasing the acceleration. 
+
+`<m LINEAR>` - acceleration is uniform up to selected throttle speed.
+`<m POWER>`  - acceleration depends on difference between loco speed and selected throttle speed.
+ 

Release_Notes/websocketTester.html

@@ -0,0 +1,41 @@
+<html>
+  <!-- Minimalist test page for the DCCEX websocket API.-->
+<head>
+  <script>
+  let socket = new WebSocket("ws://192.168.1.242:2560","DCCEX");
+  
+  // send message from the form
+  var sender = function() {
+    var msg=document.getElementById('message').value;
+    socket.send(msg);
+  }
+  // message received - show the message in div#messages
+  socket.onmessage = function(event) {
+    let message = event.data;
+  
+    let messageElem = document.createElement('div');
+    messageElem.textContent = message;
+    document.getElementById('messages').prepend(messageElem);
+  }
+  socket.onerror = function(event) {
+    let message = event.data;
+    let messageElem = document.createElement('div');
+    messageElem.textContent = message;
+    document.getElementById('messages').prepend(messageElem);
+  }
+  </script>
+</head>
+<body>
+  This is a minimalist test page for the DCCEX websocket API.
+   It demonstrates the Websocket connection and how to send
+   or receive websocket traffic.
+   The connection string must be edited to address your command station 
+   correctly.<p>
+<!-- message form -->
+
+  <input type="text" id="message">
+  <input type="button" value="Send" onclick="sender();">
+<!-- div with messages -->
+<div id="messages"></div>
+</body>
+</html>

STM32lwipopts.h.copyme

@@ -0,0 +1,101 @@
+/*
+ *  © 2024 Harald Barth
+ *  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/>.
+ */
+//
+// Rewrite of the STM32lwipopts.h file from STM
+// To be copied into where lwipopts_default.h resides
+// typically into STM32Ethernet/src/STM32lwipopts.h
+// or STM32Ethernet\src\STM32lwipopts.h
+// search for `lwipopts_default.h` and copy this file into the
+// same directory but name it STM32lwipopts.h
+//
+#ifndef __STM32LWIPOPTS_H__
+#define __STM32LWIPOPTS_H__
+
+// include this here and then override things we do differnet
+#include "lwipopts_default.h"
+
+// we can not include our "defines.h" here
+// so we need to duplicate that define
+#define MAX_NUM_TCP_CLIENTS_HERE 9
+
+#ifdef MAX_NUM_TCP_CLIENTS
+ #if MAX_NUM_TCP_CLIENTS != MAX_NUM_TCP_CLIENTS_HERE
+  #error MAX_NUM_TCP_CLIENTS and MAX_NUM_TCP_CLIENTS_HERE must be same
+ #endif
+#else
+ #define MAX_NUM_TCP_CLIENTS MAX_NUM_TCP_CLIENTS_HERE
+#endif
+
+// increase ARP cache
+#undef  MEMP_NUM_APR_QUEUE
+#define MEMP_NUM_ARP_QUEUE MAX_NUM_TCP_CLIENTS+3 // one for each client (all on different HW) and a few extra
+
+// Example for debug
+//#define LWIP_DEBUG                      1
+//#define TCP_DEBUG                       LWIP_DBG_ON
+
+// NOT STRICT NECESSARY ANY MORE BUT CAN BE USED TO SAVE RAM
+#undef  MEM_LIBC_MALLOC
+#define MEM_LIBC_MALLOC         1       // use the same malloc as for everything else
+#undef  MEMP_MEM_MALLOC
+#define MEMP_MEM_MALLOC         1       // uses malloc which means no pools which means slower but not mean 32KB up front
+
+#undef  MEMP_NUM_TCP_PCB
+#define MEMP_NUM_TCP_PCB        MAX_NUM_TCP_CLIENTS+1 // one extra so we can reject number N+1 from our code
+#define MEMP_NUM_TCP_PCB_LISTEN 6
+
+#undef  MEMP_NUM_TCP_SEG
+#define MEMP_NUM_TCP_SEG        MAX_NUM_TCP_CLIENTS
+
+#undef  MEMP_NUM_SYS_TIMEOUT
+#define MEMP_NUM_SYS_TIMEOUT    MAX_NUM_TCP_CLIENTS+2
+
+#undef  PBUF_POOL_SIZE
+#define PBUF_POOL_SIZE          MAX_NUM_TCP_CLIENTS
+
+#undef  LWIO_ICMP
+#define LWIP_ICMP                       1
+#undef  LWIP_RAW
+#define LWIP_RAW                        1 /* PING changed to 1 */
+#undef  DEFAULT_RAW_RECVMBOX_SIZE
+#define DEFAULT_RAW_RECVMBOX_SIZE       3 /* for ICMP PING */
+
+#undef  LWIP_DHCP
+#define LWIP_DHCP               1
+#undef  LWIP_UDP
+#define LWIP_UDP                1
+
+/*
+The STM32F4x7 allows computing and verifying the IP, UDP, TCP and ICMP checksums by hardware:
+ - To use this feature let the following define uncommented.
+ - To disable it and process by CPU comment the  the checksum.
+*/
+
+#if CHECKSUM_GEN_TCP == 1
+#error On STM32 TCP checksum should be in HW
+#endif
+
+#undef  LWIP_IGMP
+#define LWIP_IGMP       1
+
+//#define SO_REUSE 1
+//#define SO_REUSE_RXTOALL 1
+
+#endif /* __STM32LWIPOPTS_H__ */

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;
       }
     }
   }

Sniffer.cpp

@@ -0,0 +1,241 @@
+/*
+ *  © 2025 Harald Barth
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+#ifdef ARDUINO_ARCH_ESP32
+#include "Sniffer.h"
+#include "DIAG.h"
+//extern Sniffer *DCCSniffer;
+
+static void packeterror() {
+#ifndef WIFI_LED
+#ifdef SNIFFER_LED
+  digitalWrite(SNIFFER_LED,HIGH);
+#endif
+#endif
+}
+
+static void clear_packeterror() {
+#ifndef WIFI_LED
+#ifdef SNIFFER_LED
+  digitalWrite(SNIFFER_LED,LOW);
+#endif
+#endif
+}
+
+static bool halfbits2byte(uint16_t b, byte *dccbyte) {
+/*
+  if (b!=0 && b!=0xFFFF) {
+    Serial.print("[ ");
+    for(int n=0; n<16; n++) {
+      Serial.print(b&(1<<n)?"1":"0");
+    }
+    Serial.println(" ]");
+  }
+*/
+  for(byte n=0; n<8; n++) {
+    switch (b & 0x03) {
+    case 0x01:
+    case 0x02:
+      // broken bits
+      packeterror();
+      return false;
+      break;
+    case 0x00:
+      bitClear(*dccbyte, n);
+      break;
+    case 0x03:
+      bitSet(*dccbyte, n);
+      break;
+    }
+    b = b>>2;
+  }
+  return true;
+}
+
+static void IRAM_ATTR blink_diag(int limit) {
+#ifndef WIFI_LED
+#ifdef SNIFFER_LED
+  delay(500);
+  for (int n=0 ; n<limit; n++) {
+    digitalWrite(SNIFFER_LED,HIGH);
+    delay(200);
+    digitalWrite(SNIFFER_LED,LOW);
+    delay(200);
+  }
+#endif
+#endif
+}
+
+static bool IRAM_ATTR cap_ISR_cb(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_channel, const cap_event_data_t *edata,void *user_data) {
+  if (edata->cap_edge == MCPWM_BOTH_EDGE) {
+    // should not happen at all
+    // delays here might crash sketch
+    blink_diag(2);
+    return 0;
+  }
+  if (user_data) ((Sniffer *)user_data)->processInterrupt(edata->cap_value, edata->cap_edge == MCPWM_POS_EDGE);
+//if (DCCSniffer)            DCCSniffer->processInterrupt(edata->cap_value, edata->cap_edge == MCPWM_POS_EDGE);
+  
+  return 0;
+}
+
+Sniffer::Sniffer(byte snifferpin) {
+  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM_CAP_0, snifferpin);
+  // set capture edge, BIT(0) - negative edge, BIT(1) - positive edge
+  // MCPWM_POS_EDGE|MCPWM_NEG_EDGE should be 3.
+  //mcpwm_capture_enable(MCPWM_UNIT_0, MCPWM_SELECT_CAP0, MCPWM_POS_EDGE|MCPWM_NEG_EDGE, 0);
+  //mcpwm_isr_register(MCPWM_UNIT_0, sniffer_isr_handler, NULL, ESP_INTR_FLAG_IRAM, NULL);
+  //MCPWM0.int_ena.cap0_int_ena = 1;                      // Enable interrupt on CAP0 signal
+
+  mcpwm_capture_config_t MCPWM_cap_config = { //Capture channel configuration
+    .cap_edge = MCPWM_BOTH_EDGE,              // according to mcpwm.h
+    .cap_prescale = 1,                        // 1 to 256 (see .h file)
+    .capture_cb = cap_ISR_cb,                 // user defined ISR/callback
+    .user_data = (void *)this                 // user defined argument to callback
+  };
+#ifndef WIFI_LED
+#ifdef SNIFFER_LED
+  pinMode(SNIFFER_LED ,OUTPUT);
+#endif
+#endif
+  blink_diag(3); // so that we know we have SNIFFER_LED
+  DIAG(F("Init sniffer on pin %d"), snifferpin);
+  ESP_ERROR_CHECK(mcpwm_capture_enable_channel(MCPWM_UNIT_0, MCPWM_SELECT_CAP0, &MCPWM_cap_config));
+}
+
+#define SNIFFER_TIMEOUT 100L // 100 Milliseconds
+bool Sniffer::inputActive(){
+  unsigned long now = millis();
+  return ((now - lastendofpacket) < SNIFFER_TIMEOUT);
+}
+
+#define DCC_TOO_SHORT 4000L // 4000 ticks are 50usec
+#define DCC_ONE_LIMIT 6400L // 6400 ticks are 80usec
+
+void IRAM_ATTR Sniffer::processInterrupt(int32_t capticks, bool posedge) {
+  byte bit = 0;
+  diffticks = capticks - lastticks;
+  if (lastedge != posedge) {
+    if (diffticks < DCC_TOO_SHORT) {
+      return;
+    }
+    if (diffticks < DCC_ONE_LIMIT) {
+      bit = 1;
+    } else {
+      bit = 0;
+    }
+    // update state variables for next round
+    lastticks = capticks;
+    lastedge = posedge;
+    bitfield = bitfield << (uint64_t)1;
+    bitfield = bitfield + (uint64_t)bit;
+
+    // now the halfbit is in the bitfield. Analyze...
+    
+    if ((bitfield & 0xFFFFFF) == 0xFFFFFC){
+      // This looks at the 24 last halfbits
+      // and detects a preamble if
+      // 22 are ONE and 2 are ZERO which is a
+      // preabmle of 11 ONES and one ZERO
+      if (inpacket) {
+	// if we are already inpacket here we
+	// got a preamble in the middle of a
+	// packet
+	packeterror();
+      } else {
+	clear_packeterror(); // everything fine again at end of preable after good packet
+      }
+      currentbyte = 0;
+      dcclen = 0;
+      inpacket = true;
+      halfbitcounter = 18; // count 18 steps from 17 to 0 and then look at the byte
+      return;
+    }
+    if (inpacket) {
+      halfbitcounter--;
+      if (halfbitcounter) {
+	return; // wait until we have full byte
+      } else {
+	// have reached end of byte
+	//if (currentbyte == 2) debugfield = bitfield;
+	byte twohalfbits = bitfield & 0x03;
+	switch (twohalfbits) {
+	case 0x01:
+	case 0x02:
+	  // broken bits
+	  inpacket = false;
+	  packeterror();
+	  return;
+	  break;
+	case 0x00:
+	case 0x03:
+	  // byte end
+	  uint16_t b = (bitfield & 0x3FFFF)>>2; // take 18 halfbits and use 16 of them
+	  if (!halfbits2byte(b, dccbytes + currentbyte)) {
+	    // broken halfbits
+	    inpacket = false;
+	    packeterror();
+	    return;
+	  }
+	  if (twohalfbits == 0x03) { // end of packet marker
+	    inpacket = false;
+	    dcclen = currentbyte+1;
+	    debugfield = bitfield;
+	    // We have something we want to give to the outpacket queue
+	    // Check length of outpacket queue
+	    if (outpacket.size() > 3) {
+	      // not good, these should have been fetched
+	      // the arbitraty number to check is THREE (see the holy grail)
+              // blink_diag(1); DO NOT DO THIS HERE -> will crash
+	      packeterror(); // or what to do better?
+	      // take emergency action:
+	      while (!outpacket.empty()) {
+		outpacket.pop_front();
+	      }
+	    }
+	    lastendofpacket = millis();
+	    DCCPacket temppacket(dccbytes, dcclen);
+	    if (!(temppacket == prevpacket)) {
+	      // we have something new to offer to the fetch routine
+	      // put it into the outpacket queue
+	      outpacket.push_back(temppacket);
+	      prevpacket = temppacket;
+	    }
+	    return;
+	  }
+	  break;
+	}
+	halfbitcounter = 18;
+	currentbyte++; // everything done for this end of byte
+	if (currentbyte >= MAXDCCPACKETLEN) {
+	  inpacket = false; // this is an error because we should have retured above
+	  packeterror();    // when endof packet marker was active
+	}
+      }
+    }
+  } else { // lastedge == posedge
+    // this should not happen, check later
+  }
+}
+
+/*
+static void IRAM_ATTR sniffer_isr_handler(void *) {
+  DCCSniffer.processInterrupt();
+}
+*/
+#endif // ESP32

Sniffer.h

@@ -0,0 +1,76 @@
+/*
+ *  © 2025 Harald Barth
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+#ifdef ARDUINO_ARCH_ESP32
+#include <Arduino.h>
+#include <list>
+#include "driver/mcpwm.h"
+#include "soc/mcpwm_struct.h"
+#include "soc/mcpwm_reg.h"
+
+#define MAXDCCPACKETLEN 8
+#include "DCCPacket.h"
+
+class Sniffer {
+public:
+  Sniffer(byte snifferpin);
+  void IRAM_ATTR processInterrupt(int32_t capticks, bool posedge);
+  inline int32_t getTicks() {
+    noInterrupts();
+    int32_t i = diffticks;
+    interrupts();
+    return i;
+  };
+  inline int64_t getDebug() {
+    noInterrupts();
+    int64_t i = debugfield;
+    interrupts();
+    return i;
+  };
+  inline DCCPacket fetchPacket() {
+    // if there is no new data, this will create a
+    // packet with length 0 (which is no packet)
+    DCCPacket p;
+    noInterrupts();
+    if (!outpacket.empty()) {
+      p = outpacket.front();
+      outpacket.pop_front();
+    }
+    interrupts();
+    return p;
+  };
+  bool inputActive();
+private:
+  // keep these vars in processInterrupt only
+  uint64_t bitfield = 0;
+  uint64_t debugfield = 0;
+  int32_t diffticks;
+  int32_t lastticks;
+  bool lastedge;
+  byte currentbyte = 0;
+  byte dccbytes[MAXDCCPACKETLEN];
+  byte dcclen = 0;
+  bool inpacket = false;
+  // these vars are used as interface to other parts of sniffer
+  byte halfbitcounter = 0;
+  std::list<DCCPacket> outpacket;
+  DCCPacket prevpacket;
+  volatile unsigned long lastendofpacket = 0; // timestamp millis
+
+};
+#endif

Stash.cpp

@@ -0,0 +1,89 @@
+/* 
+*  © 2024 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of DCC-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>. 
+*/
+#include "Stash.h"
+#include "StringFormatter.h"
+
+Stash::Stash(int16_t stash_id, int16_t loco_id) {
+    this->stashId = stash_id;
+    this->locoId = loco_id;
+    this->next = first;
+    first = this;
+}
+
+void Stash::clearAll() {
+    for (auto s=first;s;s=s->next) {
+        s->locoId = 0;
+        s->stashId =0;
+    }
+}
+
+void Stash::clearAny(int16_t loco_id) {
+    auto lid=abs(loco_id);
+    for (auto s=first;s;s=s->next)
+        if (abs(s->locoId) == lid) {
+            s->locoId = 0;
+            s->stashId =0;
+        }
+}
+
+void Stash::clear(int16_t stash_id) {
+    set(stash_id,0);
+}
+
+int16_t Stash::get(int16_t stash_id) {
+    for (auto s=first;s;s=s->next)
+        if (s->stashId == stash_id) return s->locoId;
+    return 0;
+}
+
+void Stash::set(int16_t stash_id, int16_t loco_id) {
+    // replace any existing stash
+    for (auto s=first;s;s=s->next)
+        if (s->stashId == stash_id) {
+            s->locoId=loco_id;
+            if (loco_id==0) s->stashId=0; // recycle
+            return;
+        }
+    if (loco_id==0) return; // no need to create a zero entry.
+
+    // replace any empty stash 
+    for (auto s=first;s;s=s->next)
+        if (s->locoId == 0) {
+            s->locoId=loco_id;
+            s->stashId=stash_id;
+            return;
+        }
+    // create a new stash
+    new Stash(stash_id, loco_id);
+}
+ 
+void Stash::list(Print * stream, int16_t stash_id) {
+    bool sent=false;
+    for (auto s=first;s;s=s->next)
+      if ((s->locoId) && (stash_id==0 || s->stashId==stash_id)) {
+          StringFormatter::send(stream,F("<jM %d %d>\n"),
+            s->stashId,s->locoId);
+          sent=true;
+      }
+    if (!sent) StringFormatter::send(stream,F("<jM %d 0>\n"),
+          stash_id);
+}
+
+Stash* Stash::first=nullptr;

Stash.h

@@ -0,0 +1,39 @@
+/* 
+*  © 2024 Chris Harlow
+ *  All rights reserved.
+ *  
+ *  This file is part of DCC-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>. 
+*/
+#ifndef Stash_h
+#define Stash_h
+#include <Arduino.h>
+
+class Stash {
+  public:
+    static void clear(int16_t stash_id);
+    static void clearAll();
+    static void clearAny(int16_t loco_id);
+    static int16_t get(int16_t stash_id);
+    static void set(int16_t stash_id, int16_t loco_id);
+    static void list(Print * stream, int16_t stash_id=0); // id0 = LIST ALL
+  private:
+    Stash(int16_t stash_id, int16_t loco_id);
+    static Stash* first;
+    Stash* next;
+    int16_t stashId;   
+    int16_t locoId;
+};
+#endif

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

StringFormatter.cpp

@@ -1,5 +1,5 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2020=2025, Chris Harlow. All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *
@@ -27,6 +27,10 @@ bool Diag::WIFI=false;
 bool Diag::WITHROTTLE=false;
 bool Diag::ETHERNET=false;
 bool Diag::LCN=false;
+bool Diag::RAILCOM=false;
+bool Diag::WEBSOCKET=false; 
+bool Diag::SNIFFER=false;
+
 
  
 void StringFormatter::diag( const FSH* input...) {

StringFormatter.h

@@ -1,5 +1,5 @@
 /*
- *  © 2020, Chris Harlow. All rights reserved.
+ *  © 2020-2025, Chris Harlow. All rights reserved.
  *  
  *  This file is part of Asbelos DCC API
  *
@@ -30,7 +30,9 @@ class Diag {
   static bool WITHROTTLE;
   static bool ETHERNET;
   static bool LCN;
-  
+  static bool RAILCOM;
+  static bool WEBSOCKET;
+  static bool SNIFFER;
 };
 
 class StringFormatter

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
+