STM32F4xx native I2C driver merge

Merge pull request #352 from DCC-EX/STM32_I2C_PMA_NEIL
Stm32 i2 c pma neil
2025-07-29 18:33:44 +02:00 · 2023-09-13 16:46:36 +08:00 · 2023-09-13 16:43:59 +08:00 · 2023-09-11 05:02:20 +10:00 · 2023-09-10 18:41:14 +10:00 · 2023-09-10 07:18:54 +10:00
37 changed files with 1795 additions and 295 deletions
--- a/CommandDistributor.cpp
+++ b/CommandDistributor.cpp
@@ -161,6 +161,10 @@ void  CommandDistributor::broadcastTurnout(int16_t id, bool isClosed ) {
 #endif
 }

+void CommandDistributor::broadcastTurntable(int16_t id, uint8_t position, bool moving) {
+  broadcastReply(COMMAND_TYPE, F("<i %d %d %d>\n"), id, position, moving);
+}
+
 void  CommandDistributor::broadcastClockTime(int16_t time, int8_t rate) {
  // The JMRI clock command is of the form : PFT65871<;>4
  // The CS broadcast is of the form "<jC mmmm nn" where mmmm is time minutes and dd speed
--- a/CommandDistributor.h
+++ b/CommandDistributor.h
@@ -49,6 +49,7 @@ public :
  static void broadcastLoco(byte slot);
  static void broadcastSensor(int16_t id, bool value);
  static void broadcastTurnout(int16_t id, bool isClosed);
+  static void broadcastTurntable(int16_t id, uint8_t position, bool moving);
  static void broadcastClockTime(int16_t time, int8_t rate);
  static void setClockTime(int16_t time, int8_t rate, byte opt);
  static int16_t retClockTime();
--- a/CommandStation-EX.ino
+++ b/CommandStation-EX.ino
@@ -30,6 +30,7 @@
 *  © 2021 Neil McKechnie
 *  © 2020-2021 Chris Harlow, Harald Barth, David Cutting,
 *  Fred Decker, Gregor Baues, Anthony W - Dayton
+ *  © 2023 Nathan Kellenicki
 *  All rights reserved.
 *
 *  This file is part of CommandStation-EX
@@ -95,11 +96,11 @@ void setup()
  // Start Ethernet if it exists
 #ifndef ARDUINO_ARCH_ESP32
 #if WIFI_ON
-  WifiInterface::setup(WIFI_SERIAL_LINK_SPEED, F(WIFI_SSID), F(WIFI_PASSWORD), F(WIFI_HOSTNAME), IP_PORT, WIFI_CHANNEL);
+  WifiInterface::setup(WIFI_SERIAL_LINK_SPEED, F(WIFI_SSID), F(WIFI_PASSWORD), F(WIFI_HOSTNAME), IP_PORT, WIFI_CHANNEL, WIFI_FORCE_AP);
 #endif // WIFI_ON
 #else
  // ESP32 needs wifi on always
-  WifiESP::setup(WIFI_SSID, WIFI_PASSWORD, WIFI_HOSTNAME, IP_PORT, WIFI_CHANNEL);
+  WifiESP::setup(WIFI_SSID, WIFI_PASSWORD, WIFI_HOSTNAME, IP_PORT, WIFI_CHANNEL, WIFI_FORCE_AP);
 #endif // ARDUINO_ARCH_ESP32

 #if ETHERNET_ON
--- a/DCCACK.cpp
+++ b/DCCACK.cpp
@@ -351,7 +351,7 @@ void DCCACK::callback(int value) {

    switch (callbackState) {
      case AFTER_READ:
-         if (ackManagerRejoin && autoPowerOff) {
+         if (ackManagerRejoin && !autoPowerOff) {
                progDriver->setPower(POWERMODE::OFF);
                callbackStart=millis();
                callbackState=WAITING_30;
--- a/DCCEXParser.cpp
+++ b/DCCEXParser.cpp
@@ -25,6 +25,79 @@
 *  You should have received a copy of the GNU General Public License
 *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
 */
+
+/*
+List of single character OPCODEs in use for reference.
+
+When determining a new OPCODE for a new feature, refer to this list as the source of truth.
+
+Once a new OPCODE is decided upon, update this list.
+
+  Character, Usage
+  /, |EX-R| interactive commands
+  -, Remove from reminder table
+  =, |TM| configuration
+  !, Emergency stop
+  @, Reserved for future use - LCD messages to JMRI
+  #, Request number of supported cabs/locos; heartbeat
+  +, WiFi AT commands
+  ?, Reserved for future use
+  0, Track power off
+  1, Track power on
+  a, DCC accessory control
+  A,
+  b, Write CV bit on main
+  B, Write CV bit
+  c, Request current command
+  C,
+  d,
+  D, Diagnostic commands
+  e, Erase EEPROM
+  E, Store configuration in EEPROM
+  f, Loco decoder function control (deprecated)
+  F, Loco decoder function control
+  g,
+  G,
+  h,
+  H, Turnout state broadcast
+  i, Reserved for future use - Turntable object broadcast
+  I, Reserved for future use - Turntable object command and control
+  j, Throttle responses
+  J, Throttle queries
+  k, Reserved for future use - Potentially Railcom
+  K, Reserved for future use - Potentially Railcom
+  l, Loco speedbyte/function map broadcast
+  L,
+  m,
+  M, Write DCC packet
+  n,
+  N,
+  o,
+  O, Output broadcast
+  p, Broadcast power state
+  P, Write DCC packet
+  q, Sensor deactivated
+  Q, Sensor activated
+  r, Broadcast address read on programming track
+  R, Read CVs
+  s, Display status
+  S, Sensor configuration
+  t, Cab/loco update command
+  T, Turnout configuration/control
+  u, Reserved for user commands
+  U, Reserved for user commands
+  v,
+  V, Verify CVs
+  w, Write CV on main
+  W, Write CV
+  x,
+  X, Invalid command
+  y,
+  Y, Output broadcast
+  z,
+  Z, Output configuration/control
+*/
+
 #include "StringFormatter.h"
 #include "DCCEXParser.h"
 #include "DCC.h"
@@ -41,6 +114,7 @@
 #include "TrackManager.h"
 #include "DCCTimer.h"
 #include "EXRAIL2.h"
+#include "Turntables.h"

 // This macro can't be created easily as a portable function because the
 // flashlist requires a far pointer for high flash access. 
@@ -84,6 +158,8 @@ const int16_t HASH_KEYWORD_A='A';
 const int16_t HASH_KEYWORD_C='C';
 const int16_t HASH_KEYWORD_G='G';
 const int16_t HASH_KEYWORD_I='I';
+const int16_t HASH_KEYWORD_O='O';
+const int16_t HASH_KEYWORD_P='P';
 const int16_t HASH_KEYWORD_R='R';
 const int16_t HASH_KEYWORD_T='T';
 const int16_t HASH_KEYWORD_X='X';
@@ -95,6 +171,8 @@ const int16_t HASH_KEYWORD_ANOUT = -26399;
 const int16_t HASH_KEYWORD_WIFI = -5583;
 const int16_t HASH_KEYWORD_ETHERNET = -30767;
 const int16_t HASH_KEYWORD_WIT = 31594;
+const int16_t HASH_KEYWORD_EXTT = 8573;
+const int16_t HASH_KEYWORD_ADD = 3201;

 int16_t DCCEXParser::stashP[MAX_COMMAND_PARAMS];
 bool DCCEXParser::stashBusy;
@@ -219,6 +297,9 @@ void DCCEXParser::parse(Print *stream,  byte *com,  RingStream *ringStream) {

 void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 {
+#ifdef DISABLE_PROG
+    (void)ringStream;
+#endif
 #ifndef DISABLE_EEPROM
    (void)EEPROM; // tell compiler not to warn this is unused
 #endif
@@ -375,12 +456,16 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)

 #ifndef DISABLE_PROG
    case 'w': // WRITE CV on MAIN <w CAB CV VALUE>
-        DCC::writeCVByteMain(p[0], p[1], p[2]);
-        return;
+      if (params != 3)
+	break;
+      DCC::writeCVByteMain(p[0], p[1], p[2]);
+      return;

    case 'b': // WRITE CV BIT ON MAIN <b CAB CV BIT VALUE>
-        DCC::writeCVBitMain(p[0], p[1], p[2], p[3]);
-        return;
+      if (params != 4)
+	break;
+      DCC::writeCVBitMain(p[0], p[1], p[2], p[3]);
+      return;
 #endif

    case 'M': // WRITE TRANSPARENT DCC PACKET MAIN <M REG X1 ... X9>
@@ -403,14 +488,16 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
        
 #ifndef DISABLE_PROG
    case 'W': // WRITE CV ON PROG <W CV VALUE CALLBACKNUM CALLBACKSUB>
-            if (!stashCallback(stream, p, ringStream))
-                break;
+        if (!stashCallback(stream, p, ringStream))
+	    break;
        if (params == 1) // <W id> Write new loco id (clearing consist and managing short/long)
            DCC::setLocoId(p[0],callback_Wloco);
        else if (params == 4)  // WRITE CV ON PROG <W CV VALUE [CALLBACKNUM] [CALLBACKSUB]>
            DCC::writeCVByte(p[0], p[1], callback_W4);
-        else  // WRITE CV ON PROG <W CV VALUE>
+        else if (params == 2)  // WRITE CV ON PROG <W CV VALUE>
            DCC::writeCVByte(p[0], p[1], callback_W);
+	else
+            break;
        return;

    case 'V': // VERIFY CV ON PROG <V CV VALUE> <V CV BIT 0|1>
@@ -430,9 +517,11 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
        }
        break;

-    case 'B': // WRITE CV BIT ON PROG <B CV BIT VALUE CALLBACKNUM CALLBACKSUB>
+    case 'B': // WRITE CV BIT ON PROG  <B CV BIT VALUE CALLBACKNUM CALLBACKSUB> or <B CV BIT VALUE>
+        if (params != 3 && params != 5)
+	  break;
        if (!stashCallback(stream, p, ringStream))
-            break;
+	  break;
        DCC::writeCVBit(p[0], p[1], p[2], callback_B);
        return;

@@ -562,12 +651,12 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
    case ' ': // < >
        StringFormatter::send(stream, F("\n"));
        return;
-
+#ifndef DISABLE_DIAG
    case 'D': // < >
        if (parseD(stream, params, p))
            return;
-        return;
-
+        break;
+#endif
    case '=': // <= Track manager control  >
        if (TrackManager::parseJ(stream, params, p))
            return;
@@ -686,11 +775,71 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                }
                StringFormatter::send(stream, F(">\n"));
                return;
+// No turntables without HAL support
+#ifndef IO_NO_HAL
+            case HASH_KEYWORD_O: // <JO returns turntable list
+                StringFormatter::send(stream, F("<jO"));
+                if (params==1) { // <JO>
+                    for (Turntable * tto=Turntable::first(); tto; tto=tto->next()) { 
+                        if (tto->isHidden()) continue;          
+                        StringFormatter::send(stream, F(" %d"),tto->getId());
+                    }
+                    StringFormatter::send(stream, F(">\n"));
+                } else {    // <JO id>
+                    Turntable *tto=Turntable::get(id);
+                    if (!tto || tto->isHidden()) {
+                        StringFormatter::send(stream, F(" %d X>\n"), id);
+                    } else {
+                        uint8_t pos = tto->getPosition();
+                        uint8_t type = tto->isEXTT();
+                        uint8_t posCount = tto->getPositionCount();
+                        const FSH *todesc = NULL;
+#ifdef EXRAIL_ACTIVE
+                        todesc = RMFT2::getTurntableDescription(id);
+#endif
+                        if (todesc == NULL) todesc = F("");
+                        StringFormatter::send(stream, F(" %d %d %d %d \"%S\">\n"), id, type, pos, posCount, todesc);
+                    }
+                }
+                return;
+            case HASH_KEYWORD_P: // <JP id> returns turntable position list for the turntable id
+                if (params==2) { // <JP id>
+                    Turntable *tto=Turntable::get(id);
+                    if (!tto || tto->isHidden()) {
+                        StringFormatter::send(stream, F(" %d X>\n"), id);
+                    } else {
+                        uint8_t posCount = tto->getPositionCount();
+                        const FSH *tpdesc = NULL;
+                        for (uint8_t p = 0; p < posCount; p++) {
+                            StringFormatter::send(stream, F("<jP"));
+                            int16_t value = tto->getPositionValue(p);
+                            int16_t angle = tto->getPositionAngle(p);
+#ifdef EXRAIL_ACTIVE
+                            tpdesc = RMFT2::getTurntablePositionDescription(id, p);
+#endif
+                            if (tpdesc == NULL) tpdesc = F("");
+                            StringFormatter::send(stream, F(" %d %d %d %d \"%S\""), id, p, value, angle, tpdesc);
+                            StringFormatter::send(stream, F(">\n"));
+                        }
+                    }
+                } else {
+                    StringFormatter::send(stream, F("<jP X>\n"));
+                }
+                return;
+#endif
            default: break;    
            }  // switch(p[1])
        break; // case J
        }

+// No turntables without HAL support
+#ifndef IO_NO_HAL
+    case 'I': // TURNTABLE  <I ...>
+        if (parseI(stream, params, p))
+            return;
+        break;
+#endif
+
    default: //anything else will diagnose and drop out to <X>
        DIAG(F("Opcode=%c params=%d"), opcode, params);
        for (int i = 0; i < params; i++)
@@ -1010,6 +1159,99 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
    return false;
 }

+// ==========================
+// Turntable - no support if no HAL
+// <I> - list all
+// <I id> - broadcast type and current position
+// <I id DCC> - create DCC - This is TBA
+// <I id steps> - operate (DCC)
+// <I id steps activity> - operate (EXTT)
+// <I id ADD position value> - add position
+// <I id EXTT i2caddress vpin home> - create EXTT
+#ifndef IO_NO_HAL
+bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
+{
+    switch (params)
+    {
+    case 0: // <I> list turntable objects
+        return Turntable::printAll(stream);
+
+    case 1: // <I id> broadcast type and current position
+        {    
+            Turntable *tto = Turntable::get(p[0]);
+            if (tto) {
+                bool type = tto->isEXTT();
+                uint8_t position = tto->getPosition();
+                StringFormatter::send(stream, F("<i %d %d>\n"), type, position);
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    case 2: // <I id position> - rotate a DCC turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (tto && !tto->isEXTT()) {
+                if (!tto->setPosition(p[0], p[1])) return false;
+            } else {
+                return false;
+            }
+        }
+        return true;
+
+    case 3: // <I id position activity> | <I id DCC home> - rotate to position for EX-Turntable or create DCC turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_DCC) {
+                if (tto || p[2] < 0 || p[2] > 3600) return false;
+                if (!DCCTurntable::create(p[0])) return false;
+                Turntable *tto = Turntable::get(p[0]);
+                tto->addPosition(0, 0, p[2]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                if (!tto) return false;
+                if (!tto->isEXTT()) return false;
+                if (!tto->setPosition(p[0], p[1], p[2])) return false;
+            }
+        }
+        return true;
+    
+    case 4: // <I id EXTT vpin home> create an EXTT turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_EXTT) {
+                if (tto || p[3] < 0 || p[3] > 3600) return false;
+                if (!EXTTTurntable::create(p[0], (VPIN)p[2])) return false;
+                Turntable *tto = Turntable::get(p[0]);
+                tto->addPosition(0, 0, p[3]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    case 5: // <I id ADD position value angle> add a position
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_ADD) {
+                // tto must exist, no more than 48 positions, angle 0 - 3600
+                if (!tto || p[2] > 48 || p[4] < 0 || p[4] > 3600) return false;
+                tto->addPosition(p[2], p[3], p[4]);
+                StringFormatter::send(stream, F("<i>\n"));
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    default:    // Anything else is invalid
+        return false;
+    }
+}
+#endif
+
 // CALLBACKS must be static
 bool DCCEXParser::stashCallback(Print *stream, int16_t p[MAX_COMMAND_PARAMS], RingStream * ringStream)
 {
--- a/DCCEXParser.h
+++ b/DCCEXParser.h
@@ -24,6 +24,7 @@
 #include <Arduino.h>
 #include "FSH.h"
 #include "RingStream.h"
+#include "defines.h"

 typedef void (*FILTER_CALLBACK)(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
 typedef void (*AT_COMMAND_CALLBACK)(HardwareSerial * stream,const byte * command);
@@ -45,13 +46,16 @@ struct DCCEXParser
    static int16_t splitValues( int16_t result[MAX_COMMAND_PARAMS], const byte * command, bool usehex);
     
    static bool parseT(Print * stream, int16_t params, int16_t p[]);
-     static bool parseZ(Print * stream, int16_t params, int16_t p[]);
-     static bool parseS(Print * stream,  int16_t params, int16_t p[]);
-     static bool parsef(Print * stream,  int16_t params, int16_t p[]);
-     static bool parseD(Print * stream,  int16_t params, int16_t p[]);
+    static bool parseZ(Print * stream, int16_t params, int16_t p[]);
+    static bool parseS(Print * stream, int16_t params, int16_t p[]);
+    static bool parsef(Print * stream, int16_t params, int16_t p[]);
+    static bool parseD(Print * stream, int16_t params, int16_t p[]);
+#ifndef IO_NO_HAL
+    static bool parseI(Print * stream, int16_t params, int16_t p[]);
+#endif

-     static Print * getAsyncReplyStream();
-     static void commitAsyncReplyStream();
+    static Print * getAsyncReplyStream();
+    static void commitAsyncReplyStream();

    static bool stashBusy;
    static byte stashTarget;
--- a/DCCTimerESP.cpp
+++ b/DCCTimerESP.cpp
@@ -180,8 +180,8 @@ void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value) {
          return;
      }
      pin_to_channel[pin] = --cnt_channel;
-      ledcAttachPin(pin, cnt_channel);
      ledcSetup(cnt_channel, 1000, 8);
+      ledcAttachPin(pin, cnt_channel);
    } else {
      ledcAttachPin(pin, pin_to_channel[pin]);
    }
--- a/DCCTimerSTM32.cpp
+++ b/DCCTimerSTM32.cpp
@@ -35,7 +35,7 @@
 #endif
 #include "DIAG.h"

-#if defined(ARDUINO_NUCLEO_F411RE)
+#if defined(ARDUINO_NUCLEO_F401RE) || defined(ARDUINO_NUCLEO_F411RE)
 // Nucleo-64 boards don't have additional serial ports defined by default
 HardwareSerial Serial1(PB7, PA15);  // Rx=PB7, Tx=PA15 -- CN7 pins 17 and 21 - F411RE
 // Serial2 is defined to use USART2 by default, but is in fact used as the diag console
@@ -52,7 +52,7 @@ HardwareSerial Serial6(PA12, PA11);  // Rx=PA12, Tx=PA11 -- CN10 pins 12 and 14
 HardwareSerial Serial3(PC11, PC10);  // Rx=PC11, Tx=PC10 -- USART3 - F446RE
 HardwareSerial Serial5(PD2, PC12);  // Rx=PC7, Tx=PC6 -- UART5 - F446RE
 // On the F446RE, Serial4 and Serial6 also use pins we can't readily map while using the Arduino pins
-#elif defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
+#elif defined(ARDUINO_NUCLEO_F413ZH) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)|| defined(ARDUINO_NUCLEO_F412ZG) 
 // Nucleo-144 boards don't have Serial1 defined by default
 HardwareSerial Serial6(PG9, PG14);  // Rx=PG9, Tx=PG14 -- USART6
 // Serial3 is defined to use USART3 by default, but is in fact used as the diag console
--- a/EXRAIL2.cpp
+++ b/EXRAIL2.cpp
@@ -2,7 +2,7 @@
 *  © 2021 Neil McKechnie
 *  © 2021-2023 Harald Barth
 *  © 2020-2023 Chris Harlow
- *  © 2022 Colin Murdoch
+ *  © 2022-2023 Colin Murdoch
 *  All rights reserved.
 *  
 *  This file is part of CommandStation-EX
@@ -52,6 +52,8 @@
 #include "Turnouts.h"
 #include "CommandDistributor.h"
 #include "TrackManager.h"
+#include "Turntables.h"
+#include "IODevice.h"

 // Command parsing keywords
 const int16_t HASH_KEYWORD_EXRAIL=15435;    
@@ -94,6 +96,10 @@ LookList *  RMFT2::onAmberLookup=NULL;
 LookList *  RMFT2::onGreenLookup=NULL;
 LookList *  RMFT2::onChangeLookup=NULL;
 LookList *  RMFT2::onClockLookup=NULL;
+#ifndef IO_NO_HAL
+LookList *  RMFT2::onRotateLookup=NULL;
+#endif
+LookList *  RMFT2::onOverloadLookup=NULL;

 #define GET_OPCODE GETHIGHFLASH(RMFT2::RouteCode,progCounter)
 #define SKIPOP progCounter+=3
@@ -175,7 +181,10 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
  onGreenLookup=LookListLoader(OPCODE_ONGREEN);
  onChangeLookup=LookListLoader(OPCODE_ONCHANGE);
  onClockLookup=LookListLoader(OPCODE_ONTIME);
-
+#ifndef IO_NO_HAL
+  onRotateLookup=LookListLoader(OPCODE_ONROTATE);
+#endif
+  onOverloadLookup=LookListLoader(OPCODE_ONOVERLOAD);

  // Second pass startup, define any turnouts or servos, set signals red
  // add sequences onRoutines to the lookups
@@ -195,6 +204,7 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
    case OPCODE_AT:
    case OPCODE_ATTIMEOUT2:
    case OPCODE_AFTER:
+    case OPCODE_AFTEROVERLOAD:
    case OPCODE_IF:
    case OPCODE_IFNOT: {
      int16_t pin = (int16_t)operand;
@@ -238,7 +248,38 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
      setTurnoutHiddenState(VpinTurnout::create(id,pin));
      break;
    }
-        
+
+#ifndef IO_NO_HAL
+    case OPCODE_DCCTURNTABLE: {
+      VPIN id=operand;
+      int home=getOperand(progCounter,1);
+      setTurntableHiddenState(DCCTurntable::create(id));
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(0,0,home);
+      break;
+    }
+
+    case OPCODE_EXTTTURNTABLE: {
+      VPIN id=operand;
+      VPIN pin=getOperand(progCounter,1);
+      int home=getOperand(progCounter,3);
+      setTurntableHiddenState(EXTTTurntable::create(id,pin));
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(0,0,home);
+      break;
+    }
+
+    case OPCODE_TTADDPOSITION: {
+      VPIN id=operand;
+      int position=getOperand(progCounter,1);
+      int value=getOperand(progCounter,2);
+      int angle=getOperand(progCounter,3);
+      Turntable *tto=Turntable::get(id);
+      tto->addPosition(position,value,angle);
+      break;
+    }
+#endif
+
    case OPCODE_AUTOSTART:
      // automatically create a task from here at startup.
      // Removed if (progCounter>0) check 4.2.31 because 
@@ -263,6 +304,12 @@ void RMFT2::setTurnoutHiddenState(Turnout * t) {
  t->setHidden(GETFLASH(getTurnoutDescription(t->getId()))==0x01);     
 }

+#ifndef IO_NO_HAL
+void RMFT2::setTurntableHiddenState(Turntable * tto) {
+  tto->setHidden(GETFLASH(getTurntableDescription(tto->getId()))==0x01);
+}
+#endif
+
 char RMFT2::getRouteType(int16_t id) {
  for (int16_t i=0;;i+=2) {
    int16_t rid= GETHIGHFLASHW(routeIdList,i);
@@ -599,6 +646,14 @@ void RMFT2::loop2() {
    Turnout::setClosed(operand, true);
    break;

+#ifndef IO_NO_HAL
+  case OPCODE_ROTATE:
+    uint8_t activity;
+    activity=getOperand(2);
+    Turntable::setPosition(operand,getOperand(1),activity);
+    break;
+#endif
+
  case OPCODE_REV:
    forward = false;
    driveLoco(operand);
@@ -684,7 +739,17 @@ void RMFT2::loop2() {
    }
    if (millis()-waitAfter < 500 ) return;
    break;
-    
+
+  case OPCODE_AFTEROVERLOAD: // waits for the power to be turned back on - either by power routine or button
+    if (!TrackManager::isPowerOn(operand)) {
+      // reset timer to half a second and keep waiting
+      waitAfter=millis();
+      delayMe(50);
+      return;
+    }
+    if (millis()-waitAfter < 500 ) return;
+    break;
+
  case OPCODE_LATCH:
    setFlag(operand,LATCH_FLAG);
    break;
@@ -788,7 +853,13 @@ void RMFT2::loop2() {
  case OPCODE_IFCLOSED:
    skipIf=Turnout::isThrown(operand);
    break;
-    
+
+#ifndef IO_NO_HAL
+  case OPCODE_IFTTPOSITION: // do block if turntable at this position
+    skipIf=Turntable::getPosition(operand)!=(int)getOperand(1);
+    break;
+#endif
+
  case OPCODE_ENDIF:
    break;
    
@@ -961,7 +1032,16 @@ void RMFT2::loop2() {
      return;
    }
    break;
-    
+
+#ifndef IO_NO_HAL
+  case OPCODE_WAITFORTT:  // OPCODE_WAITFOR,V(turntable_id)
+    if (Turntable::ttMoving(operand)) {
+      delayMe(100);
+      return;
+    }
+    break;
+#endif
+
  case OPCODE_PRINT:
    printMessage(operand);
    break;
@@ -986,6 +1066,13 @@ void RMFT2::loop2() {
  case OPCODE_ONGREEN:
  case OPCODE_ONCHANGE:
  case OPCODE_ONTIME:
+#ifndef IO_NO_HAL
+  case OPCODE_DCCTURNTABLE: // Turntable definition ignored at runtime
+  case OPCODE_EXTTTURNTABLE:  // Turntable definition ignored at runtime
+  case OPCODE_TTADDPOSITION:  // Turntable position definition ignored at runtime
+  case OPCODE_ONROTATE:
+#endif
+  case OPCODE_ONOVERLOAD:
  
    break;
    
@@ -1130,6 +1217,13 @@ void RMFT2::changeEvent(int16_t vpin, bool change) {
  if (change)  handleEvent(F("CHANGE"),onChangeLookup,vpin);
 }

+#ifndef IO_NO_HAL
+void RMFT2::rotateEvent(int16_t turntableId, bool change) {
+  // Hunt or an ONROTATE for this turntable
+  if (change) handleEvent(F("ROTATE"),onRotateLookup,turntableId);
+}
+#endif
+
 void RMFT2::clockEvent(int16_t clocktime, bool change) {
  // Hunt for an ONTIME for this time
  if (Diag::CMD)
@@ -1140,6 +1234,16 @@ void RMFT2::clockEvent(int16_t clocktime, bool change) {
  }
 } 

+void RMFT2::powerEvent(int16_t track, bool overload) {
+  // Hunt for an ONOVERLOAD for this item
+  if (Diag::CMD)
+   DIAG(F("Looking for Power event on track : %c"), track);
+  if (overload) {
+    handleEvent(F("POWER"),onOverloadLookup,track);
+  }
+}
+
+
 void RMFT2::handleEvent(const FSH* reason,LookList* handlers, int16_t id) {
  int pc= handlers->find(id);
  if (pc<0) return;
--- a/EXRAIL2.h
+++ b/EXRAIL2.h
@@ -1,7 +1,7 @@
 /*
 *  © 2021 Neil McKechnie
 *  © 2020-2022 Chris Harlow
- *  © 2022 Colin Murdoch
+ *  © 2022-2023 Colin Murdoch
 *  © 2023 Harald Barth
 *  All rights reserved.
 *  
@@ -25,6 +25,7 @@
 #include "FSH.h"
 #include "IODevice.h"
 #include "Turnouts.h"
+#include "Turntables.h"
   
 // The following are the operation codes (or instructions) for a kind of virtual machine.
 // Each instruction is normally 3 bytes long with an operation code followed by a parameter.
@@ -35,7 +36,8 @@
 enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
             OPCODE_FWD,OPCODE_REV,OPCODE_SPEED,OPCODE_INVERT_DIRECTION,
             OPCODE_RESERVE,OPCODE_FREE,
-             OPCODE_AT,OPCODE_AFTER,OPCODE_AUTOSTART,
+             OPCODE_AT,OPCODE_AFTER,
+             OPCODE_AFTEROVERLOAD,OPCODE_AUTOSTART,
             OPCODE_ATGTE,OPCODE_ATLT,
             OPCODE_ATTIMEOUT1,OPCODE_ATTIMEOUT2,
             OPCODE_LATCH,OPCODE_UNLATCH,OPCODE_SET,OPCODE_RESET,
@@ -62,6 +64,11 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
             OPCODE_ONCHANGE,
             OPCODE_ONCLOCKTIME,
             OPCODE_ONTIME,
+#ifndef IO_NO_HAL
+             OPCODE_TTADDPOSITION,OPCODE_DCCTURNTABLE,OPCODE_EXTTTURNTABLE,
+             OPCODE_ONROTATE,OPCODE_ROTATE,OPCODE_IFTTPOSITION,OPCODE_WAITFORTT,
+#endif
+             OPCODE_ONOVERLOAD,

             // OPcodes below this point are skip-nesting IF operations
             // placed here so that they may be skipped as a group
@@ -130,6 +137,8 @@ class LookList {
    static void activateEvent(int16_t addr, bool active);
    static void changeEvent(int16_t id, bool change);
    static void clockEvent(int16_t clocktime, bool change);
+    static void rotateEvent(int16_t id, bool change);
+    static void powerEvent(int16_t track, bool overload);
    static const int16_t SERVO_SIGNAL_FLAG=0x4000;
    static const int16_t ACTIVE_HIGH_SIGNAL_FLAG=0x2000;
    static const int16_t DCC_SIGNAL_FLAG=0x1000;
@@ -144,6 +153,8 @@ class LookList {
  static const FSH *  getTurnoutDescription(int16_t id);
  static const FSH *  getRosterName(int16_t id);
  static const FSH *  getRosterFunctions(int16_t id);
+  static const FSH *  getTurntableDescription(int16_t id);
+  static const FSH *  getTurntablePositionDescription(int16_t turntableId, uint8_t positionId);
    
 private: 
    static void ComandFilter(Print * stream, byte & opcode, byte & paramCount, int16_t p[]);
@@ -156,6 +167,9 @@ private:
    static bool isSignal(int16_t id,char rag); 
    static int16_t getSignalSlot(int16_t id);
    static void setTurnoutHiddenState(Turnout * t);
+    #ifndef IO_NO_HAL
+    static void setTurntableHiddenState(Turntable * tto);
+    #endif
    static LookList* LookListLoader(OPCODE op1,
                      OPCODE op2=OPCODE_ENDEXRAIL,OPCODE op3=OPCODE_ENDEXRAIL);
    static void handleEvent(const FSH* reason,LookList* handlers, int16_t id);
@@ -188,6 +202,10 @@ private:
   static LookList * onGreenLookup;
   static LookList * onChangeLookup;
   static LookList * onClockLookup;
+#ifndef IO_NO_HAL
+   static LookList * onRotateLookup;
+#endif
+   static LookList * onOverloadLookup;
    
  // Local variables - exist for each instance/task 
    RMFT2 *next;   // loop chain 
--- a/EXRAIL2MacroReset.h
+++ b/EXRAIL2MacroReset.h
@@ -1,6 +1,6 @@
 /*
 *  © 2020-2022 Chris Harlow. All rights reserved.
- *  © 2022 Colin Murdoch
+ *  © 2022-2023 Colin Murdoch
 *  © 2023 Harald Barth
 *  
 *  This file is part of CommandStation-EX
@@ -27,6 +27,7 @@
 #undef ACTIVATE
 #undef ACTIVATEL
 #undef AFTER
+#undef AFTEROVERLOAD
 #undef ALIAS
 #undef AMBER
 #undef ANOUT
@@ -40,6 +41,7 @@
 #undef CALL 
 #undef CLOSE 
 #undef DCC_SIGNAL
+#undef DCC_TURNTABLE
 #undef DEACTIVATE
 #undef DEACTIVATEL
 #undef DELAY
@@ -51,8 +53,9 @@
 #undef ENDEXRAIL 
 #undef ENDIF  
 #undef ENDTASK
-#undef ESTOP 
-#undef EXRAIL  
+#undef ESTOP
+#undef EXRAIL
+#undef EXTT_TURNTABLE
 #undef FADE
 #undef FOFF
 #undef FOLLOW 
@@ -75,6 +78,7 @@
 #undef IFRESERVE
 #undef IFTHROWN
 #undef IFTIMEOUT
+#undef IFTTPOSITION
 #undef IFRE
 #undef INVERT_DIRECTION 
 #undef JOIN 
@@ -93,8 +97,10 @@
 #undef ONTIME
 #undef ONCLOCKTIME
 #undef ONCLOCKMINS
+#undef ONOVERLOAD
 #undef ONGREEN
 #undef ONRED
+#undef ONROTATE
 #undef ONTHROW 
 #undef ONCHANGE
 #undef PARSE
@@ -113,7 +119,9 @@
 #undef RESUME 
 #undef RETURN 
 #undef REV
-#undef ROSTER 
+#undef ROSTER
+#undef ROTATE
+#undef ROTATE_DCC
 #undef ROUTE
 #undef SENDLOCO 
 #undef SEQUENCE 
@@ -136,7 +144,8 @@
 #undef SPEED 
 #undef START 
 #undef STOP 
-#undef THROW  
+#undef THROW
+#undef TT_ADDPOSITION
 #undef TURNOUT 
 #undef TURNOUTL
 #undef UNJOIN
@@ -144,6 +153,9 @@
 #undef VIRTUAL_SIGNAL
 #undef VIRTUAL_TURNOUT
 #undef WAITFOR
+#ifndef IO_NO_HAL
+#undef WAITFORTT
+#endif
 #undef WITHROTTLE
 #undef XFOFF
 #undef XFON
@@ -152,6 +164,7 @@
 #define ACTIVATE(addr,subaddr)
 #define ACTIVATEL(addr)
 #define AFTER(sensor_id)
+#define AFTEROVERLOAD(track_id)
 #define ALIAS(name,value...)
 #define AMBER(signal_id)
 #define ANOUT(vpin,value,param1,param2)
@@ -165,6 +178,7 @@
 #define CALL(route) 
 #define CLOSE(id) 
 #define DCC_SIGNAL(id,add,subaddr)
+#define DCC_TURNTABLE(id,home,description)
 #define DEACTIVATE(addr,subaddr)
 #define DEACTIVATEL(addr)
 #define DELAY(mindelay)
@@ -177,7 +191,8 @@
 #define ENDIF  
 #define ENDTASK
 #define ESTOP 
-#define EXRAIL  
+#define EXRAIL
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description)
 #define FADE(pin,value,ms)
 #define FOFF(func)
 #define FOLLOW(route) 
@@ -200,6 +215,7 @@
 #define IFTHROWN(turnout_id) 
 #define IFRESERVE(block)
 #define IFTIMEOUT
+#define IFTTPOSITION(turntable_id,position)
 #define IFRE(sensor_id,value)
 #define INVERT_DIRECTION 
 #define JOIN 
@@ -215,11 +231,13 @@
 #define ONTIME(value)
 #define ONCLOCKTIME(hours,mins)
 #define ONCLOCKMINS(mins)
+#define ONOVERLOAD(track_id)
 #define ONDEACTIVATE(addr,subaddr)
 #define ONDEACTIVATEL(linear) 
 #define ONCLOSE(turnout_id)
 #define ONGREEN(signal_id) 
-#define ONRED(signal_id) 
+#define ONRED(signal_id)
+#define ONROTATE(turntable_id)
 #define ONTHROW(turnout_id) 
 #define ONCHANGE(sensor_id)
 #define PAUSE
@@ -238,8 +256,10 @@
 #define RESUME 
 #define RETURN 
 #define REV(speed) 
-#define ROUTE(id,description)
+#define ROTATE(turntable_id,position,activity)
+#define ROTATE_DCC(turntable_id,position)
 #define ROSTER(cab,name,funcmap...)
+#define ROUTE(id,description)
 #define SENDLOCO(cab,route) 
 #define SEQUENCE(id) 
 #define SERIAL(msg) 
@@ -261,7 +281,8 @@
 #define SPEED(speed) 
 #define START(route) 
 #define STOP 
-#define THROW(id)  
+#define THROW(id)
+#define TT_ADDPOSITION(turntable_id,position,value,angle,description...)
 #define TURNOUT(id,addr,subaddr,description...) 
 #define TURNOUTL(id,addr,description...) 
 #define UNJOIN 
@@ -269,6 +290,9 @@
 #define VIRTUAL_SIGNAL(id) 
 #define VIRTUAL_TURNOUT(id,description...) 
 #define WAITFOR(pin)
+#ifndef IO_NO_HAL
+#define WAITFORTT(turntable_id)
+#endif
 #define WITHROTTLE(msg)
 #define XFOFF(cab,func)
 #define XFON(cab,func)
--- a/EXRAILMacros.h
+++ b/EXRAILMacros.h
@@ -1,7 +1,7 @@
 /*
 *  © 2021 Neil McKechnie
 *  © 2020-2022 Chris Harlow
- *  © 2022 Colin Murdoch
+ *  © 2022-2023 Colin Murdoch
 *  © 2023 Harald Barth
 *  All rights reserved.
 *  
@@ -54,6 +54,8 @@

 // helper macro for turnout descriptions, creates NULL for missing description
 #define O_DESC(id, desc) case id: return ("" desc)[0]?F("" desc):NULL;
+// helper macro for turntable descriptions, creates NULL for missing description
+#define T_DESC(tid,pid,desc) if(turntableId==tid && positionId==pid) return ("" desc)[0]?F("" desc):NULL;
 // helper macro for turnout description as HIDDEN 
 #define HIDDEN "\x01"

@@ -67,10 +69,13 @@
 #define ALIAS(name,value...) const int name= 1##value##0 ==10 ? -__COUNTER__  : value##0/10; 
 #include "myAutomation.h"

-// Pass 1h Implements HAL macro by creating exrailHalSetup function 
+// Pass 1h Implements HAL macro by creating exrailHalSetup function
+// Also allows creating EXTurntable object
 #include "EXRAIL2MacroReset.h"
 #undef HAL
 #define HAL(haltype,params...)  haltype::create(params);
+#undef EXTT_TURNTABLE
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) EXTurntable::create(vpin,1,i2c_address);
 void exrailHalSetup() {
   #include "myAutomation.h"
 }
@@ -187,6 +192,31 @@ const FSH * RMFT2::getTurnoutDescription(int16_t turnoutid) {
     return NULL;
 }

+// Pass to get turntable descriptions (optional)
+#include "EXRAIL2MacroReset.h"
+#undef DCC_TURNTABLE
+#define DCC_TURNTABLE(id,home,description...) O_DESC(id,description)
+#undef EXTT_TURNTABLE
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) O_DESC(id,description)
+
+const FSH * RMFT2::getTurntableDescription(int16_t turntableId) {
+   switch (turntableId) {
+      #include "myAutomation.h"
+   default:break;
+   }
+   return NULL;
+}
+
+// Pass to get turntable position descriptions (optional)
+#include "EXRAIL2MacroReset.h"
+#undef TT_ADDPOSITION
+#define TT_ADDPOSITION(turntable_id,position,value,home,description...) T_DESC(turntable_id,position,description)
+
+const FSH * RMFT2::getTurntablePositionDescription(int16_t turntableId, uint8_t positionId) {
+   #include "myAutomation.h"
+   return NULL;
+}
+
 // Pass 6: Roster IDs (count)
 #include "EXRAIL2MacroReset.h"
 #undef ROSTER
@@ -256,6 +286,7 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ACTIVATE(addr,subaddr) OPCODE_DCCACTIVATE,V(addr<<3 | subaddr<<1 | 1),
 #define ACTIVATEL(addr) OPCODE_DCCACTIVATE,V((addr+3)<<1 | 1),
 #define AFTER(sensor_id) OPCODE_AT,V(sensor_id),OPCODE_AFTER,V(sensor_id),
+#define AFTEROVERLOAD(track_id) OPCODE_AFTEROVERLOAD,V(TRACK_NUMBER_##track_id),
 #define ALIAS(name,value...) 
 #define AMBER(signal_id) OPCODE_AMBER,V(signal_id),
 #define ANOUT(vpin,value,param1,param2) OPCODE_SERVO,V(vpin),OPCODE_PAD,V(value),OPCODE_PAD,V(param1),OPCODE_PAD,V(param2),
@@ -268,6 +299,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define BROADCAST(msg) PRINT(msg)
 #define CALL(route) OPCODE_CALL,V(route),
 #define CLOSE(id)  OPCODE_CLOSE,V(id),
+#ifndef IO_NO_HAL
+#define DCC_TURNTABLE(id,home,description...) OPCODE_DCCTURNTABLE,V(id),OPCODE_PAD,V(home),
+#endif
 #define DEACTIVATE(addr,subaddr) OPCODE_DCCACTIVATE,V(addr<<3 | subaddr<<1),
 #define DEACTIVATEL(addr) OPCODE_DCCACTIVATE,V((addr+3)<<1),
 #define DELAY(ms) ms<30000?OPCODE_DELAYMS:OPCODE_DELAY,V(ms/(ms<30000?1L:100L)),
@@ -281,7 +315,10 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ENDIF  OPCODE_ENDIF,0,0,
 #define ENDTASK OPCODE_ENDTASK,0,0,
 #define ESTOP OPCODE_SPEED,V(1), 
-#define EXRAIL 
+#define EXRAIL
+#ifndef IO_NO_HAL
+#define EXTT_TURNTABLE(id,vpin,i2c_address,home,description...) OPCODE_EXTTTURNTABLE,V(id),OPCODE_PAD,V(vpin),OPCODE_PAD,V(i2c_address),OPCODE_PAD,V(home),
+#endif
 #define FADE(pin,value,ms) OPCODE_SERVO,V(pin),OPCODE_PAD,V(value),OPCODE_PAD,V(PCA9685::ProfileType::UseDuration|PCA9685::NoPowerOff),OPCODE_PAD,V(ms/100L),
 #define FOFF(func) OPCODE_FOFF,V(func),
 #define FOLLOW(route) OPCODE_FOLLOW,V(route),
@@ -304,6 +341,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define IFRESERVE(block) OPCODE_IFRESERVE,V(block),
 #define IFTHROWN(turnout_id) OPCODE_IFTHROWN,V(turnout_id),
 #define IFTIMEOUT OPCODE_IFTIMEOUT,0,0,
+#ifndef IO_NO_HAL
+#define IFTTPOSITION(id,position) OPCODE_IFTTPOSITION,V(id),OPCODE_PAD,V(position),
+#endif
 #define IFRE(sensor_id,value) OPCODE_IFRE,V(sensor_id),OPCODE_PAD,V(value),
 #define INVERT_DIRECTION OPCODE_INVERT_DIRECTION,0,0,
 #define JOIN OPCODE_JOIN,0,0,
@@ -320,10 +360,14 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ONTIME(value) OPCODE_ONTIME,V(value),  
 #define ONCLOCKTIME(hours,mins) OPCODE_ONTIME,V((STRIP_ZERO(hours)*60)+STRIP_ZERO(mins)),
 #define ONCLOCKMINS(mins) ONCLOCKTIME(25,mins)
+#define ONOVERLOAD(track_id) OPCODE_ONOVERLOAD,V(TRACK_NUMBER_##track_id),
 #define ONDEACTIVATE(addr,subaddr) OPCODE_ONDEACTIVATE,V(addr<<2|subaddr),
 #define ONDEACTIVATEL(linear) OPCODE_ONDEACTIVATE,V(linear+3),
 #define ONGREEN(signal_id) OPCODE_ONGREEN,V(signal_id),
 #define ONRED(signal_id) OPCODE_ONRED,V(signal_id),
+#ifndef IO_NO_HAL
+#define ONROTATE(id) OPCODE_ONROTATE,V(id),
+#endif
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
 #define ONCHANGE(sensor_id) OPCODE_ONCHANGE,V(sensor_id),
 #define PAUSE OPCODE_PAUSE,0,0,
@@ -343,6 +387,10 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define RETURN OPCODE_RETURN,0,0,
 #define REV(speed) OPCODE_REV,V(speed),
 #define ROSTER(cabid,name,funcmap...)
+#ifndef IO_NO_HAL
+#define ROTATE(id,position,activity) OPCODE_ROTATE,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(EXTurntable::activity),
+#define ROTATE_DCC(id,position) OPCODE_ROTATE,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(0),
+#endif
 #define ROUTE(id, description)  OPCODE_ROUTE, V(id), 
 #define SENDLOCO(cab,route) OPCODE_SENDLOCO,V(cab),OPCODE_PAD,V(route),
 #define SEQUENCE(id)  OPCODE_SEQUENCE, V(id), 
@@ -366,6 +414,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define START(route) OPCODE_START,V(route),
 #define STOP OPCODE_SPEED,V(0), 
 #define THROW(id)  OPCODE_THROW,V(id),
+#ifndef IO_NO_HAL
+#define TT_ADDPOSITION(id,position,value,angle,description...) OPCODE_TTADDPOSITION,V(id),OPCODE_PAD,V(position),OPCODE_PAD,V(value),OPCODE_PAD,V(angle),
+#endif
 #define TURNOUT(id,addr,subaddr,description...) OPCODE_TURNOUT,V(id),OPCODE_PAD,V(addr),OPCODE_PAD,V(subaddr),
 #define TURNOUTL(id,addr,description...) TURNOUT(id,(addr-1)/4+1,(addr-1)%4, description)
 #define UNJOIN OPCODE_UNJOIN,0,0,
@@ -374,6 +425,9 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define VIRTUAL_TURNOUT(id,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(0), 
 #define WITHROTTLE(msg) PRINT(msg)
 #define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
+#ifndef IO_NO_HAL
+#define WAITFORTT(turntable_id) OPCODE_WAITFORTT,V(turntable_id),
+#endif
 #define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),
 #define XFON(cab,func) OPCODE_XFON,V(cab),OPCODE_PAD,V(func),

--- a/GITHUB_SHA.h
+++ b/GITHUB_SHA.h
@@ -1 +1 @@
-#define GITHUB_SHA "devel-overcurrent-202307061457Z"
+#define GITHUB_SHA "devel-202308302157Z"
--- a/I2CManager.cpp
+++ b/I2CManager.cpp
@@ -92,7 +92,7 @@ void I2CManagerClass::begin(void) {
    // Probe and list devices.  Use standard mode 
    //  (clock speed 100kHz) for best device compatibility.
    _setClock(100000);
-    unsigned long originalTimeout = _timeout;
+    uint32_t originalTimeout = _timeout;
    setTimeout(1000);       // use 1ms timeout for probes

  #if defined(I2C_EXTENDED_ADDRESS)
--- a/I2CManager.h
+++ b/I2CManager.h
@@ -485,7 +485,7 @@ private:
  // When retries are enabled, the timeout applies to each
  // try, and failure from timeout does not get retried.
  // A value of 0 means disable timeout monitoring.
-  unsigned long _timeout = 100000UL;
+  uint32_t _timeout = 100000UL;
    
  // Finish off request block by waiting for completion and posting status.
  uint8_t finishRB(I2CRB *rb, uint8_t status);
@@ -532,14 +532,15 @@ private:
    uint8_t bytesToSend = 0;
    uint8_t bytesToReceive = 0;
    uint8_t operation = 0;
-    unsigned long startTime = 0;
+    uint32_t startTime = 0;
    uint8_t muxPhase = 0;
    uint8_t muxAddress = 0;
    uint8_t muxData[1];
    uint8_t deviceAddress;
    const uint8_t *sendBuffer;
    uint8_t *receiveBuffer;
-
+    uint8_t transactionState = 0;
+  
    volatile uint32_t pendingClockSpeed = 0;

    void startTransaction();
--- a/I2CManager_NonBlocking.h
+++ b/I2CManager_NonBlocking.h
@@ -172,6 +172,10 @@ void I2CManagerClass::startTransaction() {
 *  Function to queue a request block and initiate operations.
 ***************************************************************************/
 void I2CManagerClass::queueRequest(I2CRB *req) {
+
+  if (((req->operation & OPERATION_MASK) == OPERATION_READ) && req->readLen == 0)
+    return;  // Ignore null read
+
  req->status = I2C_STATUS_PENDING;
  req->nextRequest = NULL;
  ATOMIC_BLOCK() {
@@ -184,6 +188,7 @@ void I2CManagerClass::queueRequest(I2CRB *req) {

 }

+
 /***************************************************************************
 *  Initiate a write to an I2C device (non-blocking operation)
 ***************************************************************************/
@@ -240,8 +245,8 @@ void I2CManagerClass::checkForTimeout() {
    I2CRB *t = queueHead;
    if (state==I2C_STATE_ACTIVE && t!=0 && t==currentRequest && _timeout > 0) {
      // Check for timeout
-      unsigned long elapsed = micros() - startTime;
-      if (elapsed > _timeout) { 
+      int32_t elapsed = micros() - startTime;
+      if (elapsed > (int32_t)_timeout) { 
 #ifdef DIAG_IO
        //DIAG(F("I2CManager Timeout on %s"), t->i2cAddress.toString());
 #endif
@@ -300,12 +305,12 @@ void I2CManagerClass::handleInterrupt() {

  // Check if current request has completed.  If there's a current request
  // and state isn't active then state contains the completion status of the request.
-  if (state == I2C_STATE_COMPLETED && currentRequest != NULL) {
+  if (state == I2C_STATE_COMPLETED && currentRequest != NULL && currentRequest == queueHead) {
    // Operation has completed.
    if (completionStatus == I2C_STATUS_OK || ++retryCounter > MAX_I2C_RETRIES
      || currentRequest->operation & OPERATION_NORETRY) 
    {
-      // Status is OK, or has failed and retry count exceeded, or retries disabled.
+      // Status is OK, or has failed and retry count exceeded, or failed and retries disabled.
 #if defined(I2C_EXTENDED_ADDRESS)
      if (muxPhase == MuxPhase_PROLOG ) {
        overallStatus = completionStatus;
--- a/I2CManager_STM32.h
+++ b/I2CManager_STM32.h
@@ -26,27 +26,42 @@
 #include "I2CManager.h"
 #include "I2CManager_NonBlocking.h"   // to satisfy intellisense

-//#include <avr/io.h>
-//#include <avr/interrupt.h>
 #include <wiring_private.h>
+#include "stm32f4xx_hal_rcc.h"

-/***************************************************************************
- *  Interrupt handler.
- *  IRQ handler for SERCOM3 which is the default I2C definition for Arduino Zero
- *  compatible variants such as the Sparkfun SAMD21 Dev Breakout etc.
- *  Later we may wish to allow use of an alternate I2C bus, or more than one I2C
- *  bus on the SAMD architecture 
- ***************************************************************************/
+/*****************************************************************************
+ *  STM32F4xx I2C native driver support
+ * 
+ *  Nucleo-64 and Nucleo-144 boards all use I2C1 as the default I2C peripheral
+ *  Later we may wish to support other STM32 boards, allow use of an alternate
+ *  I2C bus, or more than one I2C bus on the STM32 architecture 
+ *****************************************************************************/
 #if defined(I2C_USE_INTERRUPTS) && defined(ARDUINO_ARCH_STM32)
-void I2C1_IRQHandler() {
+#if defined(ARDUINO_NUCLEO_F411RE) || defined(ARDUINO_NUCLEO_F446RE) || defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
+// Assume I2C1 for now - default I2C bus on Nucleo-F411RE and likely all Nucleo-64
+// and Nucleo-144variants
+I2C_TypeDef *s = I2C1;
+
+// In init we will ask the STM32 HAL layer for the configured APB1 clock frequency in Hz
+uint32_t APB1clk1; // Peripheral Input Clock speed in Hz.
+uint32_t i2c_MHz;  // Peripheral Input Clock speed in MHz.
+
+// IRQ handler for I2C1, replacing the weak definition in the STM32 HAL 
+extern "C" void I2C1_EV_IRQHandler(void) {
  I2CManager.handleInterrupt();
 }
+extern "C" void I2C1_ER_IRQHandler(void) {
+  I2CManager.handleInterrupt();
+}
+#else
+#warning STM32 board selected is not yet supported - so I2C1 peripheral is not defined
+#endif
 #endif

-// Assume I2C1 for now - default I2C bus on Nucleo-F411RE and likely Nucleo-64 variants
-I2C_TypeDef *s = I2C1;
-#define I2C_IRQn  I2C1_EV_IRQn
-#define I2C_BUSFREQ 16
+// Peripheral Input Clock speed in MHz.
+// For STM32F446RE, the speed is 45MHz.  Ideally, this should be determined
+// at run-time from the APB1 clock, as it can vary from STM32 family to family.
+// #define I2C_PERIPH_CLK 45

 // I2C SR1 Status Register #1 bit definitions for convenience
 // #define I2C_SR1_SMBALERT  (1<<15)   // SMBus alert
@@ -80,52 +95,55 @@ I2C_TypeDef *s = I2C1;
 // #define I2C_CR1_SMBUS     (1<<1)    // SMBus mode, 1=SMBus, 0=I2C
 // #define I2C_CR1_PE        (1<<0)    // I2C Peripheral enable

+// States of the STM32 I2C driver state machine
+enum {TS_IDLE,TS_START,TS_W_ADDR,TS_W_DATA,TS_W_STOP,TS_R_ADDR,TS_R_DATA,TS_R_STOP};
+
+
 /***************************************************************************
 *  Set I2C clock speed register.  This should only be called outside of
 *  a transmission.  The I2CManagerClass::_setClock() function ensures 
 *  that it is only called at the beginning of an I2C transaction.
 ***************************************************************************/
 void I2CManagerClass::I2C_setClock(uint32_t i2cClockSpeed) {
-
  // Calculate a rise time appropriate to the requested bus speed
-  // Use 10x the rise time spec to enable integer divide of 62.5ns clock period
+  // Use 10x the rise time spec to enable integer divide of 50ns clock period
  uint16_t t_rise;
  uint32_t ccr_freq;
-  if (i2cClockSpeed < 200000L) {
-    // i2cClockSpeed = 100000L;
-    t_rise = 0x11;  // (1000ns /62.5ns) + 1;
-  }
-  else if (i2cClockSpeed < 800000L)
+
+  while (s->CR1 & I2C_CR1_STOP);  // Prevents lockup by guarding further
+                                  // writes to CR1 while STOP is being executed!
+
+  // Disable the I2C device, as TRISE can only be programmed whilst disabled
+  s->CR1 &= ~(I2C_CR1_PE);  // Disable I2C
+
+  if (i2cClockSpeed > 100000L)
  {
-    i2cClockSpeed = 400000L;
-    t_rise = 0x06;  // (300ns / 62.5ns) + 1;
-    // } else if (i2cClockSpeed < 1200000L) {
-    //   i2cClockSpeed = 1000000L;
-    //   t_rise = 120;
+    if (i2cClockSpeed > 400000L)
+      i2cClockSpeed = 400000L;
+
+    t_rise = 300;  // nanoseconds
  }
  else
  {
    i2cClockSpeed = 100000L;
-    t_rise = 0x11;  // (1000ns /62.5ns) + 1;
+    t_rise = 1000;  // nanoseconds
  }
-
-  // Enable the I2C master mode
-  s->CR1 &= ~(I2C_CR1_PE);  // Enable I2C
-  // Software reset the I2C peripheral
-  // s->CR1 |= I2C_CR1_SWRST;  // reset the I2C
-  // Release reset
-  // s->CR1 &= ~(I2C_CR1_SWRST);  // Normal operation
-
-  // Calculate baudrate - using a rise time appropriate for the speed
-  ccr_freq = I2C_BUSFREQ * 1000000 / i2cClockSpeed / 2;
+  // Configure the rise time register
+  s->TRISE = (t_rise / (1000 / i2c_MHz)) + 1;

  // Bit 15: I2C Master mode, 0=standard, 1=Fast Mode
-  // Bit 14: Duty, fast mode duty cycle
-  // Bit 11-0: FREQR = 16MHz => TPCLK1 = 62.5ns, so CCR divisor must be 0x50 (80 * 62.5ns = 5000ns)
-  s->CCR = (uint16_t)ccr_freq;
-
-  // Configure the rise time register
-  s->TRISE = t_rise;  // 1000 ns / 62.5 ns = 16 + 1
+  // Bit 14: Duty, fast mode duty cycle (use 2:1)
+  // Bit 11-0: FREQR
+  if (i2cClockSpeed > 100000L) {
+    // In fast mode, I2C period is 3 * CCR * TPCLK1.
+    //APB1clk1 / 3 / i2cClockSpeed = 38, but that results in 306KHz not 400! 
+    ccr_freq = 30;     // So 30 gives 396KHz or so!
+    s->CCR = (uint16_t)(ccr_freq | 0x8000); // We need Fast Mode set
+  } else {
+    // In standard mode, I2C period is 2 * CCR * TPCLK1
+    ccr_freq = (APB1clk1 / 2 / i2cClockSpeed); // Should be 225 for 45Mhz APB1 clock
+    s->CCR |= (uint16_t)ccr_freq;
+  }

  // Enable the I2C master mode
  s->CR1 |= I2C_CR1_PE;  // Enable I2C
@@ -136,32 +154,51 @@ void I2CManagerClass::I2C_setClock(uint32_t i2cClockSpeed) {
 ***************************************************************************/
 void I2CManagerClass::I2C_init()
 {
-  //Setting up the clocks
-  RCC->APB1ENR |= (1<<21);  // Enable I2C CLOCK
-  RCC->AHB1ENR |= (1<<1);   // Enable GPIOB CLOCK for PB8/PB9
+  // Query the clockspeed from the STM32 HAL layer
+  APB1clk1 = HAL_RCC_GetPCLK1Freq();
+  i2c_MHz = APB1clk1 / 1000000UL;
+  // Enable clocks
+  RCC->APB1ENR |= RCC_APB1ENR_I2C1EN;//(1 << 21); // Enable I2C CLOCK
+  // Reset the I2C1 peripheral to initial state
+  RCC->APB1RSTR |=  RCC_APB1RSTR_I2C1RST;
+	RCC->APB1RSTR &= ~RCC_APB1RSTR_I2C1RST;
  // Standard I2C pins are SCL on PB8 and SDA on PB9
+  RCC->AHB1ENR |= (1<<1);   // Enable GPIOB CLOCK for PB8/PB9
  // Bits (17:16)= 1:0 --> Alternate Function for Pin PB8;
  // Bits (19:18)= 1:0 --> Alternate Function for Pin PB9
+  GPIOB->MODER &= ~((3<<(8*2)) | (3<<(9*2)));    // Clear all MODER bits for PB8 and PB9
  GPIOB->MODER |= (2<<(8*2)) | (2<<(9*2));    // PB8 and PB9 set to ALT function
  GPIOB->OTYPER |= (1<<8) | (1<<9);           // PB8 and PB9 set to open drain output capability
  GPIOB->OSPEEDR |= (3<<(8*2)) | (3<<(9*2));  // PB8 and PB9 set to High Speed mode
+  GPIOB->PUPDR &= ~((3<<(8*2)) | (3<<(9*2))); // Clear all PUPDR bits for PB8 and PB9
  GPIOB->PUPDR |= (1<<(8*2)) | (1<<(9*2));    // PB8 and PB9 set to pull-up capability
  // Alt Function High register routing pins PB8 and PB9 for I2C1:
  // Bits (3:2:1:0) = 0:1:0:0 --> AF4 for pin PB8
  // Bits (7:6:5:4) = 0:1:0:0 --> AF4 for pin PB9
+  GPIOB->AFR[1] &= ~((15<<0) | (15<<4));      // Clear all AFR bits for PB8 on low nibble, PB9 on next nibble up
  GPIOB->AFR[1] |= (4<<0) | (4<<4);           // PB8 on low nibble, PB9 on next nibble up

  // Software reset the I2C peripheral
  s->CR1 |= I2C_CR1_SWRST;  // reset the I2C
-  s->CR1 &= ~(I2C_CR1_SWRST);  // Normal operation
+  asm("nop");    // wait a bit... suggestion from online!
+  s->CR1 &= ~(I2C_CR1_SWRST); // Normal operation

-  // Program the peripheral input clock in CR2 Register in order to generate correct timings
-  s->CR2 |= I2C_BUSFREQ;  // PCLK1 FREQUENCY in MHz
+  // Clear all bits in I2C CR2 register except reserved bits
+  s->CR2 &= 0xE000;
+
+  // Set I2C peripheral clock frequency
+  // s->CR2 |= I2C_PERIPH_CLK;
+  s->CR2 |= i2c_MHz;
+
+  // set own address to 00 - not used in master mode
+  I2C1->OAR1 = (1 << 14); // bit 14 should be kept at 1 according to the datasheet

 #if defined(I2C_USE_INTERRUPTS)
  // Setting NVIC
-  NVIC_SetPriority(I2C_IRQn, 1);  // Match default priorities
-  NVIC_EnableIRQ(I2C_IRQn);
+  NVIC_SetPriority(I2C1_EV_IRQn, 1);  // Match default priorities
+  NVIC_EnableIRQ(I2C1_EV_IRQn);
+  NVIC_SetPriority(I2C1_ER_IRQn, 1);  // Match default priorities
+  NVIC_EnableIRQ(I2C1_ER_IRQn);

  // CR2 Interrupt Settings
  // Bit 15-13: reserved
@@ -172,23 +209,25 @@ void I2CManagerClass::I2C_init()
  // Bit 8: ITERREN - Error interrupt enable
  // Bit 7-6: reserved
  // Bit 5-0: FREQ - Peripheral clock frequency (max 50MHz)
-  // s->CR2 |= 0x0700;   // Enable Buffer, Event and Error interrupts
-  s->CR2 |= 0x0300;   // Enable Event and Error interrupts
+  s->CR2 |= (I2C_CR2_ITBUFEN | I2C_CR2_ITEVTEN | I2C_CR2_ITERREN);   // Enable Buffer, Event and Error interrupts
 #endif

  // Calculate baudrate and set default rate for now
  // Configure the Clock Control Register for 100KHz SCL frequency
  // Bit 15: I2C Master mode, 0=standard, 1=Fast Mode
  // Bit 14: Duty, fast mode duty cycle
-  // Bit 11-0: FREQR = 16MHz => TPCLK1 = 62.5ns, so CCR divisor must be 0x50 (80 * 62.5ns = 5000ns)
-  s->CCR = 0x0050;
+  // Bit 11-0: so CCR divisor would be clk / 2 / 100000 (where clk is in Hz)
+  // s->CCR = I2C_PERIPH_CLK * 5;
+  s->CCR &= ~(0x3000); // Clear all bits except 12 and 13 which must remain per reset value
+  s->CCR |= (APB1clk1 / 2 / 100000UL); // i2c_MHz * 5;
+  // s->CCR = i2c_MHz * 5;

-  // Configure the rise time register - max allowed in 1000ns
-  s->TRISE = 0x0011; // 1000 ns / 62.5 ns = 16 + 1
+  // Configure the rise time register - max allowed is 1000ns, so value = 1000ns * I2C_PERIPH_CLK MHz / 1000 + 1.
+  // s->TRISE = I2C_PERIPH_CLK + 1;    // 1000 ns / 50 ns = 20 + 1 = 21
+  s->TRISE = i2c_MHz + 1;

  // Enable the I2C master mode
  s->CR1 |= I2C_CR1_PE;  // Enable I2C
-  // Setting bus idle mode and wait for sync
 }

 /***************************************************************************
@@ -198,49 +237,30 @@ void I2CManagerClass::I2C_sendStart() {

  // Set counters here in case this is a retry.
  rxCount = txCount = 0;
-  uint8_t temp;

-  // On a single-master I2C bus, the start bit won't be sent until the bus 
-  // state goes to IDLE so we can request it without waiting.  On a 
-  // multi-master bus, the bus may be BUSY under control of another master, 
+  // On a single-master I2C bus, the start bit won't be sent until the bus
+  // state goes to IDLE so we can request it without waiting.  On a
+  // multi-master bus, the bus may be BUSY under control of another master,
  // in which case we can avoid some arbitration failures by waiting until
  // the bus state is IDLE.  We don't do that here.
+  //while (s->SR2 & I2C_SR2_BUSY) {}

-  // If anything to send, initiate write.  Otherwise initiate read.
-  if (operation == OPERATION_READ || ((operation == OPERATION_REQUEST) && !bytesToSend))
-  {
-    // Send start for read operation
-    s->CR1 |= I2C_CR1_ACK;  // Enable the ACK
-    s->CR1 |= I2C_CR1_START;  // Generate START
-    // Send address with read flag (1) or'd in
-    s->DR = (deviceAddress << 1) | 1;  //  send the address
-    while (!(s->SR1 && I2C_SR1_ADDR));  // wait for ADDR bit to set
-    // Special case for 1 byte reads!
-    if (bytesToReceive == 1)
-    {
-      s->CR1 &= ~I2C_CR1_ACK;            // clear the ACK bit 
-		  temp = I2C1->SR1 | I2C1->SR2;  // read SR1 and SR2 to clear the ADDR bit.... EV6 condition
-		  s->CR1 |= I2C_CR1_STOP;              // Stop I2C
-    }
-    else
-      temp = s->SR1 | s->SR2;        // read SR1 and SR2 to clear the ADDR bit
-  }
-  else {
-    // Send start for write operation
-    s->CR1 |= I2C_CR1_ACK;  // Enable the ACK
-    s->CR1 |= I2C_CR1_START;  // Generate START
-    // Send address with write flag (0) or'd in
-    s->DR = (deviceAddress << 1) | 0;  //  send the address
-    while (!(s->SR1 && I2C_SR1_ADDR));  // wait for ADDR bit to set
-    temp = s->SR1 | s->SR2;  // read SR1 and SR2 to clear the ADDR bit
-  }
+  // Check there's no STOP still in progress.  If we OR the START bit into CR1
+  // and the STOP bit is already set, we could output multiple STOP conditions.
+  while (s->CR1 & I2C_CR1_STOP) {}  // Wait for STOP bit to reset
+
+  s->CR2 |= (I2C_CR2_ITEVTEN | I2C_CR2_ITERREN);  // Enable interrupts
+  s->CR2 &= ~I2C_CR2_ITBUFEN;     // Don't enable buffer interupts yet.
+  s->CR1 &= ~I2C_CR1_POS;   // Clear the POS bit
+  s->CR1 |= (I2C_CR1_ACK | I2C_CR1_START);   // Enable the ACK and generate START
+  transactionState = TS_START;
 }

 /***************************************************************************
 *  Initiate a stop bit for transmission (does not interrupt)
 ***************************************************************************/
 void I2CManagerClass::I2C_sendStop() {
-  s->CR1 |= I2C_CR1_STOP;              // Stop I2C
+  s->CR1 |= I2C_CR1_STOP; // Stop I2C
 }

 /***************************************************************************
@@ -252,9 +272,11 @@ void I2CManagerClass::I2C_close() {
  s->CR1 &= ~I2C_CR1_PE;  // Disable I2C peripheral
  // Should never happen, but wait for up to 500us only.
  unsigned long startTime = micros();
-  while ((s->CR1 && I2C_CR1_PE) != 0) {
-    if (micros() - startTime >= 500UL) break;
+  while ((s->CR1 & I2C_CR1_PE) != 0) {
+    if ((int32_t)(micros() - startTime) >= 500) break;
  }
+  NVIC_DisableIRQ(I2C1_EV_IRQn);
+  NVIC_DisableIRQ(I2C1_ER_IRQn);
 }

 /***************************************************************************
@@ -263,50 +285,217 @@ void I2CManagerClass::I2C_close() {
 *  (and therefore, indirectly, from I2CRB::wait() and I2CRB::isBusy()).
 ***************************************************************************/
 void I2CManagerClass::I2C_handleInterrupt() {
+  volatile uint16_t temp_sr1, temp_sr2;

-  if (s->SR1 && I2C_SR1_ARLO) {
-    // Arbitration lost, restart
-    I2C_sendStart();   // Reinitiate request
-  } else if (s->SR1 && I2C_SR1_BERR) {
-    // Bus error
-    completionStatus = I2C_STATUS_BUS_ERROR;
-    state = I2C_STATE_COMPLETED;
-  } else if (s->SR1 && I2C_SR1_TXE) {
-    // Master write completed
-    if (s->SR1 && (1<<10)) {
-      // Nacked, send stop.
-      I2C_sendStop();
+  temp_sr1 = s->SR1;
+
+  // Check for errors first
+  if (temp_sr1 & (I2C_SR1_AF | I2C_SR1_ARLO | I2C_SR1_BERR)) {
+    // Check which error flag is set
+    if (temp_sr1 & I2C_SR1_AF)
+    {
+      s->SR1 &= ~(I2C_SR1_AF); // Clear AF
+      I2C_sendStop(); // Clear the bus
+      transactionState = TS_IDLE;
      completionStatus = I2C_STATUS_NEGATIVE_ACKNOWLEDGE;
      state = I2C_STATE_COMPLETED;
-    } else if (bytesToSend) {
-      // Acked, so send next byte
-      s->DR = sendBuffer[txCount++];
-      bytesToSend--;
-    } else if (bytesToReceive) {
-      // Last sent byte acked and no more to send.  Send repeated start, address and read bit.
-      // s->I2CM.ADDR.bit.ADDR = (deviceAddress << 1) | 1;
-    } else {
-      // Check both TxE/BTF == 1 before generating stop
-      while (!(s->SR1 && I2C_SR1_TXE));    // Check TxE
-      while (!(s->SR1 && I2C_SR1_BTF));    // Check BTF
-      // No more data to send/receive. Initiate a STOP condition and finish
-      I2C_sendStop();
+    }
+    else if (temp_sr1 & I2C_SR1_ARLO)
+    {
+      // Arbitration lost, restart
+      s->SR1 &= ~(I2C_SR1_ARLO); // Clear ARLO
+      I2C_sendStart(); // Reinitiate request
+      transactionState = TS_START;
+    }
+    else if (temp_sr1 & I2C_SR1_BERR)
+    {
+      // Bus error
+      s->SR1 &= ~(I2C_SR1_BERR); // Clear BERR
+      I2C_sendStop(); // Clear the bus
+      transactionState = TS_IDLE;
+      completionStatus = I2C_STATUS_BUS_ERROR;
      state = I2C_STATE_COMPLETED;
    }
-  } else if (s->SR1 && I2C_SR1_RXNE) {
-    // Master read completed without errors
-    if (bytesToReceive == 1) {
-//      s->I2CM.CTRLB.bit.ACKACT = 1;  // NAK final byte
-      I2C_sendStop();  // send stop
-      receiveBuffer[rxCount++] = s->DR;  // Store received byte
-      bytesToReceive = 0;
-      state = I2C_STATE_COMPLETED;
-    } else if (bytesToReceive) {
-//      s->I2CM.CTRLB.bit.ACKACT = 0;  // ACK all but final byte
-      receiveBuffer[rxCount++] = s->DR;  // Store received byte
-      bytesToReceive--;
+  } 
+  else {
+    // No error flags, so process event according to current state.
+    switch (transactionState) {
+      case TS_START:
+        if (temp_sr1 & I2C_SR1_SB) {
+          // Event EV5
+          // Start bit has been sent successfully and we have the bus.
+          // If anything to send, initiate write.  Otherwise initiate read.
+          if (operation == OPERATION_READ || ((operation == OPERATION_REQUEST) && !bytesToSend)) {
+            // Send address with read flag (1) or'd in
+            s->DR = (deviceAddress << 1) | 1;  //  send the address
+            transactionState = TS_R_ADDR;
+          } else {
+            // Send address with write flag (0) or'd in
+            s->DR = (deviceAddress << 1) | 0;  //  send the address
+            transactionState = TS_W_ADDR;
+          }
+        }
+        // SB bit is cleared by writing to DR (already done).
+        break;
+
+      case TS_W_ADDR:
+        if (temp_sr1 & I2C_SR1_ADDR) {
+          temp_sr2 = s->SR2; // read SR2 to complete clearing the ADDR bit
+          // Event EV6
+          // Address sent successfully, device has ack'd in response.
+          if (!bytesToSend) {
+            I2C_sendStop();
+            transactionState = TS_IDLE;
+            completionStatus = I2C_STATUS_OK;
+            state = I2C_STATE_COMPLETED;
+          } else {
+            // Put one byte into DR to load shift register.
+            s->DR = sendBuffer[txCount++];
+            bytesToSend--;
+            if (bytesToSend) {
+              // Put another byte to load DR
+              s->DR = sendBuffer[txCount++];
+              bytesToSend--;
+            }
+            if (!bytesToSend) {
+              // No more bytes to send.
+              // The TXE interrupt occurs when the DR is empty, and the BTF interrupt 
+              // occurs when the shift register is also empty (one character later).
+              // To avoid repeated TXE interrupts during this time, we disable TXE interrupt.
+              s->CR2 &= ~I2C_CR2_ITBUFEN;  // Wait for BTF interrupt, disable TXE interrupt
+              transactionState = TS_W_STOP;
+            } else {
+              // More data remaining to send after this interrupt, enable TXE interrupt.
+              s->CR2 |= I2C_CR2_ITBUFEN;
+              transactionState = TS_W_DATA;
+            }
+          }
+        }
+        break;
+
+      case TS_W_DATA:
+        if (temp_sr1 & I2C_SR1_TXE) {
+          // Event EV8_1/EV8
+          // Transmitter empty, write a byte to it.
+          if (bytesToSend) {
+            s->DR = sendBuffer[txCount++];
+            bytesToSend--;
+            if (!bytesToSend) {
+              s->CR2 &= ~I2C_CR2_ITBUFEN;  // Disable TXE interrupt
+              transactionState = TS_W_STOP;
+            }
+          }
+        } 
+        break;
+
+      case TS_W_STOP:
+        if (temp_sr1 & I2C_SR1_BTF) {
+          // Event EV8_2
+          // Done, last character sent. Anything to receive?
+          if (bytesToReceive) {
+            I2C_sendStart();
+            // NOTE: Three redundant BTF interrupts take place between the
+            // first BTF interrupt and the START interrupt.  I've tried all sorts
+            // of ways to eliminate them, and the only thing that worked for
+            // me was to loop until the BTF bit becomes reset.  Either way,
+            // it's a waste of processor time.  Anyone got a solution?
+            //while (s->SR1 && I2C_SR1_BTF) {}
+            transactionState = TS_START;
+          } else {
+            I2C_sendStop();
+            transactionState = TS_IDLE;
+            completionStatus = I2C_STATUS_OK;
+            state = I2C_STATE_COMPLETED;
+          }
+          s->SR1 &= I2C_SR1_BTF;  // Clear BTF interrupt
+        }
+        break;
+
+      case TS_R_ADDR:
+        if (temp_sr1 & I2C_SR1_ADDR) {
+          // Event EV6
+          // Address sent for receive.
+          // The next bit is different depending on whether there are 
+          // 1 byte, 2 bytes or >2 bytes to be received, in accordance with the
+          // Programmers Reference RM0390.
+          if (bytesToReceive == 1) {
+            // Receive 1 byte
+            s->CR1 &= ~I2C_CR1_ACK;  // Disable ack
+            temp_sr2 = s->SR2; // read SR2 to complete clearing the ADDR bit
+            // Next step will occur after a RXNE interrupt, so enable it
+            s->CR2 |= I2C_CR2_ITBUFEN;
+            transactionState = TS_R_STOP;
+          } else if (bytesToReceive == 2) {
+            // Receive 2 bytes
+            s->CR1 &= ~I2C_CR1_ACK;  // Disable ACK for final byte
+            s->CR1 |= I2C_CR1_POS;  // set POS flag to delay effect of ACK flag
+            // Next step will occur after a BTF interrupt, so disable RXNE interrupt
+            s->CR2 &= ~I2C_CR2_ITBUFEN;
+            temp_sr2 = s->SR2; // read SR2 to complete clearing the ADDR bit
+            transactionState = TS_R_STOP;
+          } else {
+            // >2 bytes, just wait for bytes to come in and ack them for the time being
+            // (ack flag has already been set).
+            // Next step will occur after a BTF interrupt, so disable RXNE interrupt
+            s->CR2 &= ~I2C_CR2_ITBUFEN;
+            temp_sr2 = s->SR2; // read SR2 to complete clearing the ADDR bit
+            transactionState = TS_R_DATA;
+          }
+        }
+        break;
+      
+      case TS_R_DATA:
+        // Event EV7/EV7_1
+        if (temp_sr1 & I2C_SR1_BTF) {
+          // Byte received in receiver - read next byte
+          if (bytesToReceive == 3) {
+            // Getting close to the last byte, so a specific sequence is recommended.
+            s->CR1 &= ~I2C_CR1_ACK;  // Reset ack for next byte received.
+            transactionState = TS_R_STOP;
+          }
+          receiveBuffer[rxCount++] = s->DR;  // Store received byte
+          bytesToReceive--;
+        } 
+        break;
+        
+      case TS_R_STOP:
+        if (temp_sr1 & I2C_SR1_BTF) {
+          // Event EV7 (last one)
+          // When we've got here, the receiver has got the last two bytes
+          // (or one byte, if only one byte is being received),
+          // and NAK has already been sent, so we need to read from the receiver.
+          if (bytesToReceive) {
+            if (bytesToReceive > 1) 
+              I2C_sendStop();
+            while(bytesToReceive) {
+              receiveBuffer[rxCount++] = s->DR;  // Store received byte(s)
+              bytesToReceive--;
+            }
+            // Finish.
+            transactionState = TS_IDLE;
+            completionStatus = I2C_STATUS_OK;
+            state = I2C_STATE_COMPLETED;
+          }
+        } else if (temp_sr1 & I2C_SR1_RXNE) {
+          if (bytesToReceive == 1) {
+            // One byte on a single-byte transfer.  Ack has already been set.
+            I2C_sendStop();
+            receiveBuffer[rxCount++] = s->DR; // Store received byte
+            bytesToReceive--;
+            // Finish.
+            transactionState = TS_IDLE;
+            completionStatus = I2C_STATUS_OK;
+            state = I2C_STATE_COMPLETED;
+          } else
+            s->SR1 &= I2C_SR1_RXNE;  // Acknowledge interrupt
+        }
+        break;
    }
+    // If we've received an interrupt at any other time, we're not interested so clear it
+    // to prevent it recurring ad infinitum.
+    s->SR1 = 0;
  }
+  
 }

 #endif /* I2CMANAGER_STM32_H */
--- a/IODevice.cpp
+++ b/IODevice.cpp
@@ -176,6 +176,13 @@ bool IODevice::exists(VPIN vpin) {
  return findDevice(vpin) != NULL;
 }

+// Return the status of the device att vpin.
+uint8_t IODevice::getStatus(VPIN vpin) {
+  IODevice *dev = findDevice(vpin);
+  if (!dev) return false;
+  return dev->_deviceState;
+}
+
 // check whether the pin supports notification.  If so, then regular _read calls are not required.
 bool IODevice::hasCallback(VPIN vpin) {
  IODevice *dev = findDevice(vpin);
--- a/IODevice.h
+++ b/IODevice.h
@@ -27,12 +27,6 @@
 // Define symbol DIAG_LOOPTIMES to enable CS loop execution time to be reported
 //#define DIAG_LOOPTIMES

-// Define symbol IO_NO_HAL to reduce FLASH footprint when HAL features not required
-// The HAL is disabled by default on Nano and Uno platforms, because of limited flash space.
-#if defined(ARDUINO_AVR_NANO) || defined(ARDUINO_AVR_UNO) 
-#define IO_NO_HAL
-#endif
-
 // Define symbol IO_SWITCH_OFF_SERVO to set the PCA9685 output to 0 when an 
 // animation has completed.  This switches off the servo motor, preventing 
 // the continuous buzz sometimes found on servos, and reducing the 
@@ -160,6 +154,9 @@ public:
  // exists checks whether there is a device owning the specified vpin
  static bool exists(VPIN vpin);

+  // getStatus returns the state of the device at the specified vpin
+  static uint8_t getStatus(VPIN vpin);
+
  // Enable shared interrupt on specified pin for GPIO extender modules.  The extender module
  // should pull down this pin when requesting a scan.  The pin may be shared by multiple modules.
  // Without the shared interrupt, input states are scanned periodically to detect changes on 
@@ -383,6 +380,7 @@ private:
  uint8_t *_pinInUse; 
 };

+#ifndef IO_NO_HAL
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 /*
 * IODevice subclass for EX-Turntable.
@@ -411,10 +409,13 @@ private:
  void _begin() override;
  void _loop(unsigned long currentMicros) override;
  int _read(VPIN vpin) override;
+  void _broadcastStatus (VPIN vpin, uint8_t status);
  void _writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) override;
  void _display() override;
  uint8_t _stepperStatus;
+  uint8_t _previousStatus;
 };
+#endif

 /////////////////////////////////////////////////////////////////////////////////////////////////////

--- a/IO_EXTurntable.cpp
+++ b/IO_EXTurntable.cpp
@@ -20,20 +20,21 @@
 /*
 * The IO_EXTurntable device driver is used to control a turntable via an Arduino with a stepper motor over I2C.
 *
-* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/Turntable-EX) and contains the stepper motor logic.
+* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/EX-Turntable) and contains the stepper motor logic.
 *
-* This device driver sends a step position to Turntable-EX to indicate the step position to move to using either of these commands:
+* This device driver sends a step position to EX-Turntable to indicate the step position to move to using either of these commands:
 * <D TT vpin steps activity> in the serial console
 * MOVETT(vpin, steps, activity) in EX-RAIL
 * Refer to the documentation for further information including the valid activities.
 */

-#ifndef IO_EXTurntable_h
-#define IO_EXTurntable_h
-
 #include "IODevice.h"
 #include "I2CManager.h"
 #include "DIAG.h"
+#include "Turntables.h"
+#include "CommandDistributor.h"
+
+#ifndef IO_NO_HAL

 void EXTurntable::create(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
  new EXTurntable(firstVpin, nPins, I2CAddress);
@@ -44,18 +45,21 @@ EXTurntable::EXTurntable(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
  _firstVpin = firstVpin;
  _nPins = nPins;
  _I2CAddress = I2CAddress;
+  _stepperStatus = 0;
+  _previousStatus = 0;
  addDevice(this);
 }

 // Initialisation of EXTurntable
 void EXTurntable::_begin() {
  I2CManager.begin();
-  I2CManager.setClock(1000000);
  if (I2CManager.exists(_I2CAddress)) {
+    DIAG(F("EX-Turntable device found, I2C:%s"), _I2CAddress.toString());
 #ifdef DIAG_IO
    _display();
 #endif
  } else {
+    DIAG(F("EX-Turntable I2C:%s device not found"), _I2CAddress.toString());
    _deviceState = DEVSTATE_FAILED;
  }
 }
@@ -67,15 +71,17 @@ void EXTurntable::_loop(unsigned long currentMicros) {
  uint8_t readBuffer[1];
  I2CManager.read(_I2CAddress, readBuffer, 1);
  _stepperStatus = readBuffer[0];
-  // DIAG(F("Turntable-EX returned status: %d"), _stepperStatus);
-  delayUntil(currentMicros + 500000);  // Wait 500ms before checking again, turntables turn slowly
+  if (_stepperStatus != _previousStatus && _stepperStatus == 0) { // Broadcast when a rotation finishes
+    _broadcastStatus(_firstVpin, _stepperStatus);
+    _previousStatus = _stepperStatus;
+  }
+  delayUntil(currentMicros + 100000);  // Wait 100ms before checking again
 }

 // Read returns status as obtained in our loop.
 // Return false if our status value is invalid.
 int EXTurntable::_read(VPIN vpin) {
  if (_deviceState == DEVSTATE_FAILED) return 0;
-  // DIAG(F("_read status: %d"), _stepperStatus);
  if (_stepperStatus > 1) {
    return false;
  } else {
@@ -83,6 +89,15 @@ int EXTurntable::_read(VPIN vpin) {
  }
 }

+// If a status change has occurred for a turntable object, broadcast it
+void EXTurntable::_broadcastStatus (VPIN vpin, uint8_t status) {
+  Turntable *tto = Turntable::getByVpin(vpin);
+  if (tto) {
+    tto->setMoving(status);
+    CommandDistributor::broadcastTurntable(tto->getId(), tto->getPosition(), status);
+  }
+}
+
 // writeAnalogue to send the steps and activity to Turntable-EX.
 // Sends 3 bytes containing the MSB and LSB of the step count, and activity.
 // value contains the steps, bit shifted to MSB + LSB.
@@ -100,6 +115,7 @@ int EXTurntable::_read(VPIN vpin) {
 // Acc_Off = 9           // Turn accessory pin off
 void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) {
  if (_deviceState == DEVSTATE_FAILED) return;
+  if (value < 0) return;
  uint8_t stepsMSB = value >> 8;
  uint8_t stepsLSB = value & 0xFF;
 #ifdef DIAG_IO
@@ -109,6 +125,8 @@ void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_
    _I2CAddress.toString(), stepsMSB, stepsLSB, activity);
 #endif
  _stepperStatus = 1;     // Tell the device driver Turntable-EX is busy
+  _previousStatus = _stepperStatus;
+  _broadcastStatus(vpin, _stepperStatus); // Broadcast when the rotation starts
  I2CManager.write(_I2CAddress, 3, stepsMSB, stepsLSB, activity);
 }

--- a/IO_PCA9555.h
+++ b/IO_PCA9555.h
@@ -0,0 +1,112 @@
+/*
+ *  © 2021, Neil McKechnie. All rights reserved.
+ *  
+ *  This file is part of DCC++EX API
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef io_pca9555_h
+#define io_pca9555_h
+
+#include "IO_GPIOBase.h"
+#include "FSH.h"
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ * IODevice subclass for PCA9555 16-bit I/O expander (NXP & Texas Instruments).
+ */
+ 
+class PCA9555 : public GPIOBase<uint16_t> {
+public:
+  static void create(VPIN vpin, uint8_t nPins, I2CAddress i2cAddress, int interruptPin=-1) {
+    if (checkNoOverlap(vpin, nPins, i2cAddress)) new PCA9555(vpin,nPins, i2cAddress, interruptPin);
+  }
+  
+  // Constructor
+  PCA9555(VPIN vpin, int nPins, uint8_t I2CAddress, int interruptPin=-1) 
+    : GPIOBase<uint16_t>((FSH *)F("PCA9555"), vpin, nPins, I2CAddress, interruptPin) 
+  {
+    requestBlock.setRequestParams(_I2CAddress, inputBuffer, sizeof(inputBuffer),
+      outputBuffer, sizeof(outputBuffer));
+    outputBuffer[0] = REG_INPUT_P0;
+  }
+
+private:
+  void _writeGpioPort() override {
+    I2CManager.write(_I2CAddress, 3, REG_OUTPUT_P0, _portOutputState, _portOutputState>>8);
+  }
+  void _writePullups() override {
+    // Do nothing, pull-ups are always in place for input ports
+    // This function is here for HAL GPIOBase API compatibilitiy
+      
+  }
+  void _writePortModes() override {
+    // Write 0 to REG_CONF_P0 & REG_CONF_P1 for in-use pins that are outputs, 1 for others.
+    // PCA9555 & TCA9555, Interrupt is always enabled for raising and falling edge
+    uint16_t temp = ~(_portMode & _portInUse);
+    I2CManager.write(_I2CAddress, 3, REG_CONF_P0, temp, temp>>8);    
+  }
+  void _readGpioPort(bool immediate) override {
+    if (immediate) {
+      uint8_t buffer[2];
+      I2CManager.read(_I2CAddress, buffer, 2, 1, REG_INPUT_P0);
+      _portInputState = ((uint16_t)buffer[1]<<8) | buffer[0];
+      /* PCA9555 Int bug fix, from PCA9555 datasheet: "must change command byte to something besides 00h 
+       * after a Read operation to the PCA9555 device or before reading from 
+       * another device"
+       * Recommended solution, read from REG_OUTPUT_P0, then do nothing with the received data
+       * Issue not seen during testing, uncomment if needed 
+       */
+      //I2CManager.read(_I2CAddress, buffer, 2, 1, REG_OUTPUT_P0);
+    } else {
+      // Queue new request
+      requestBlock.wait(); // Wait for preceding operation to complete
+      // Issue new request to read GPIO register
+      I2CManager.queueRequest(&requestBlock);
+    }
+  }
+  // This function is invoked when an I/O operation on the requestBlock completes.
+  void _processCompletion(uint8_t status) override {
+    if (status == I2C_STATUS_OK) 
+      _portInputState = ((uint16_t)inputBuffer[1]<<8) | inputBuffer[0];
+    else  
+      _portInputState = 0xffff;
+  }
+
+  void _setupDevice() override {
+    // HAL API calls
+    _writePortModes();
+    _writePullups();
+    _writeGpioPort();
+  }
+ 
+  uint8_t inputBuffer[2];
+  uint8_t outputBuffer[1];
+ 
+
+  enum {
+    REG_INPUT_P0 = 0x00,
+    REG_INPUT_P1 = 0x01,
+    REG_OUTPUT_P0 = 0x02,
+    REG_OUTPUT_P1 = 0x03,
+    REG_POL_INV_P0 = 0x04,
+    REG_POL_INV_P1 = 0x05,
+    REG_CONF_P0 = 0x06,
+    REG_CONF_P1 = 0x07,    
+  };
+
+};
+
+#endif
--- a/IO_RotaryEncoder.h
+++ b/IO_RotaryEncoder.h
@@ -134,12 +134,13 @@ private:
    }
  }

-  // Device specific read function
+  // Return the position sent by the rotary encoder software
  int _readAnalogue(VPIN vpin) override {
    if (_deviceState == DEVSTATE_FAILED) return 0;
    return _position;
  }

+  // Send the feedback value to the rotary encoder software
  void _write(VPIN vpin, int value) override {
    if (vpin == _firstVpin + 1) {
      if (value != 0) value = 0x01;
@@ -148,9 +149,12 @@ private:
    }
  }

+  // Send a position update to the rotary encoder software
+  // To be valid, must be 0 to 255, and different to the current position
+  // If the current position is the same, it was initiated by the rotary encoder
  void _writeAnalogue(VPIN vpin, int position, uint8_t profile, uint16_t duration) override {
    if (vpin == _firstVpin + 2) {
-      if (position >= 0 && position <= 255) {
+      if (position >= 0 && position <= 255 && position != _position) {
        byte newPosition = position & 0xFF;
        byte _positionBuffer[2] = {RE_MOVE, newPosition};
        I2CManager.write(_I2CAddress, _positionBuffer, 2);
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -4,6 +4,7 @@
 *  © 2021 Fred Decker
 *  © 2020-2023 Harald Barth
 *  © 2020-2021 Chris Harlow
+ *  © 2023 Colin Murdoch
 *  All rights reserved.
 *  
 *  This file is part of CommandStation-EX
@@ -26,6 +27,7 @@
 #include "DCCWaveform.h"
 #include "DCCTimer.h"
 #include "DIAG.h"
+#include "EXRAIL2.h"

 unsigned long MotorDriver::globalOverloadStart = 0;

@@ -278,6 +280,7 @@ void MotorDriver::startCurrentFromHW() {
 #endif //ANALOG_READ_INTERRUPT

 #if defined(ARDUINO_ARCH_ESP32)
+#ifdef VARIABLE_TONES
 uint16_t taurustones[28] = { 165, 175, 196, 220,
 			     247, 262, 294, 330,
 			     349, 392, 440, 494,
@@ -286,17 +289,43 @@ uint16_t taurustones[28] = { 165, 175, 196, 220,
 			     330, 284, 262, 247,
 			     220, 196, 175, 165 };
 #endif
+#endif
 void MotorDriver::setDCSignal(byte speedcode) {
  if (brakePin == UNUSED_PIN)
    return;
+  switch(brakePin) {
 #if defined(ARDUINO_AVR_UNO)
-  TCCR2B = (TCCR2B & B11111000) | B00000110; // set divisor on timer 2 to result in (approx) 122.55Hz
+    // Not worth doin something here as:
+    // If we are on pin 9 or 10 we are on Timer1 and we can not touch Timer1 as that is our DCC source.
+    // If we are on pin 5 or 6 we are on Timer 0 ad we can not touch Timer0 as that is millis() etc.
+    // We are most likely not on pin 3 or 11 as no known motor shield has that as brake.
 #endif
 #if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
-  TCCR2B = (TCCR2B & B11111000) | B00000110; // set divisor on timer 2 to result in (approx) 122.55Hz
-  TCCR4B = (TCCR4B & B11111000) | B00000100; // same for timer 4 but maxcount and thus divisor differs
-  TCCR5B = (TCCR5B & B11111000) | B00000100; // same for timer 5 which is like timer 4
+  case 9:
+  case 10:
+    // Timer2 (is differnet)
+    TCCR2A = (TCCR2A & B11111100) | B00000001; // set WGM1=0 and WGM0=1 phase correct PWM
+    TCCR2B = (TCCR2B & B11110000) | B00000110; // set WGM2=0 ; set divisor on timer 2 to 1/256 for 122.55Hz
+    //DIAG(F("2 A=%x B=%x"), TCCR2A, TCCR2B);
+    break;
+  case 6:
+  case 7:
+  case 8:
+    // Timer4
+    TCCR4A = (TCCR4A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for normal PWM 8-bit
+    TCCR4B = (TCCR4B & B11100000) | B00000100; // set WGM2=0 and WGM3=0 for normal PWM 8 bit and div 1/256 for 122.55Hz
+    break;
+  case 46:
+  case 45:
+  case 44:
+    // Timer5
+    TCCR5A = (TCCR5A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for normal PWM 8-bit
+    TCCR5B = (TCCR5B & B11100000) | B00000100; // set WGM2=0 and WGM3=0 for normal PWM 8 bit and div 1/256 for 122.55Hz
+    break;
 #endif
+  default:
+    break;
+  }
  // spedcoode is a dcc speed & direction
  byte tSpeed=speedcode & 0x7F; // DCC Speed with 0,1 stop and speed steps 2 to 127
  byte tDir=speedcode & 0x80;
@@ -304,11 +333,13 @@ void MotorDriver::setDCSignal(byte speedcode) {
 #if defined(ARDUINO_ARCH_ESP32)
  {
    int f = 131;
+#ifdef VARIABLE_TONES
    if (tSpeed > 2) {
      if (tSpeed <= 58) {
 	f = taurustones[ (tSpeed-2)/2 ] ;
      }
    }
+#endif
    DCCTimer::DCCEXanalogWriteFrequency(brakePin, f); // set DC PWM frequency to 100Hz XXX May move to setup
  }
 #endif
@@ -347,7 +378,60 @@ void MotorDriver::setDCSignal(byte speedcode) {
    interrupts();
  }
 }
-
+void MotorDriver::throttleInrush(bool on) {
+  if (brakePin == UNUSED_PIN)
+    return;
+  if ( !(trackMode & (TRACK_MODE_MAIN | TRACK_MODE_PROG | TRACK_MODE_EXT)))
+    return;
+  byte duty = on ? 208 : 0;
+  if (invertBrake)
+    duty = 255-duty;
+#if defined(ARDUINO_ARCH_ESP32)
+  if(on) {
+    DCCTimer::DCCEXanalogWrite(brakePin,duty);
+    DCCTimer::DCCEXanalogWriteFrequency(brakePin, 62500);
+  } else {
+    ledcDetachPin(brakePin);
+  }
+#else
+  if(on){
+    switch(brakePin) {
+#if defined(ARDUINO_AVR_UNO)
+      // Not worth doin something here as:
+      // If we are on pin 9 or 10 we are on Timer1 and we can not touch Timer1 as that is our DCC source.
+      // If we are on pin 5 or 6 we are on Timer 0 ad we can not touch Timer0 as that is millis() etc.
+      // We are most likely not on pin 3 or 11 as no known motor shield has that as brake.
+#endif
+#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
+    case 9:
+    case 10:
+      // Timer2 (is different)
+      TCCR2A = (TCCR2A & B11111100) | B00000011; // set WGM0=1 and WGM1=1 for fast PWM
+      TCCR2B = (TCCR2B & B11110000) | B00000001; // set WGM2=0 and prescaler div=1 (max)
+      DIAG(F("2 A=%x B=%x"), TCCR2A, TCCR2B);
+      break;
+    case 6:
+    case 7:
+    case 8:
+      // Timer4
+      TCCR4A = (TCCR4A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for fast PWM 8-bit
+      TCCR4B = (TCCR4B & B11100000) | B00001001; // set WGM2=1 and WGM3=0 for fast PWM 8 bit and div=1 (max)
+      break;
+    case 46:
+    case 45:
+    case 44:
+      // Timer5
+      TCCR5A = (TCCR5A & B11111100) | B00000001; // set WGM0=1 and WGM1=0 for fast PWM 8-bit
+      TCCR5B = (TCCR5B & B11100000) | B00001001; // set WGM2=1 and WGM3=0 for fast PWM 8 bit and div=1 (max)
+      break;
+#endif
+    default:
+      break;
+    }
+  }
+  analogWrite(brakePin,duty);
+#endif
+}
 unsigned int MotorDriver::raw2mA( int raw) {
  //DIAG(F("%d = %d * %d / %d"), (int32_t)raw * senseFactorInternal / senseScale, raw, senseFactorInternal, senseScale);
  return (int32_t)raw * senseFactorInternal / senseScale;
@@ -473,29 +557,31 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
  case POWERMODE::ALERT: {
    // set local flags that handle how much is output to diag (do not output duplicates)
    bool notFromOverload = (lastPowerMode != POWERMODE::OVERLOAD);
-    bool newPowerMode = (powerMode != lastPowerMode);
+    bool powerModeChange = (powerMode != lastPowerMode);
    unsigned long now = micros();
-    if (newPowerMode)
+    if (powerModeChange)
      lastBadSample = now;
    lastPowerMode = POWERMODE::ALERT;
    // check how long we have been in this state
    unsigned long mslpc = microsSinceLastPowerChange(POWERMODE::ALERT);
    if(checkFault()) {
+      throttleInrush(true);
      lastBadSample = now;
      unsigned long timeout = checkCurrent(useProgLimit) ? POWER_SAMPLE_IGNORE_FAULT_HIGH : POWER_SAMPLE_IGNORE_FAULT_LOW;
      if ( mslpc < timeout) {
-	if (newPowerMode)
+	if (powerModeChange)
 	  DIAG(F("TRACK %c FAULT PIN (%M ignore)"), trackno + 'A', timeout);
 	break;
      }
      DIAG(F("TRACK %c FAULT PIN detected after %4M. Pause %4M)"), trackno + 'A', mslpc, power_sample_overload_wait);
+      throttleInrush(false);
      setPower(POWERMODE::OVERLOAD);
      break;
    }
    if (checkCurrent(useProgLimit)) {
      lastBadSample = now;
      if (mslpc < POWER_SAMPLE_IGNORE_CURRENT) {
-	if (newPowerMode) {
+	if (powerModeChange) {
 	  unsigned int mA=raw2mA(lastCurrent);
 	  DIAG(F("TRACK %c CURRENT (%M ignore) %dmA"), trackno + 'A', POWER_SAMPLE_IGNORE_CURRENT, mA);
 	}
@@ -505,6 +591,7 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
      unsigned int maxmA=raw2mA(tripValue);
      DIAG(F("TRACK %c POWER OVERLOAD %4dmA (max %4dmA) detected after %4M. Pause %4M"),
 	   trackno + 'A', mA, maxmA, mslpc, power_sample_overload_wait);
+      throttleInrush(false);
      setPower(POWERMODE::OVERLOAD);
      break;
    }
@@ -515,6 +602,7 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
 	unsigned int mA=raw2mA(lastCurrent);
 	DIAG(F("TRACK %c NORMAL (after %M/%M) %dmA"), trackno + 'A', goodtime, mslpc, mA);
      }
+      throttleInrush(false);
      setPower(POWERMODE::ON);
    }
    break;
@@ -527,7 +615,9 @@ void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
      // adjust next wait time
      power_sample_overload_wait *= 2;
      if (power_sample_overload_wait > POWER_SAMPLE_RETRY_MAX)
-	power_sample_overload_wait = POWER_SAMPLE_RETRY_MAX;
+	      power_sample_overload_wait = POWER_SAMPLE_RETRY_MAX;
+      DIAG(F("Calling EXRAIL"));
+      RMFT2::powerEvent(trackno, true); // Tell EXRAIL we have an overload
      // power on test
      DIAG(F("TRACK %c POWER RESTORE (after %4M)"), trackno + 'A', mslpc);
      setPower(POWERMODE::ALERT);
--- a/MotorDriver.h
+++ b/MotorDriver.h
@@ -27,6 +27,10 @@
 #include "IODevice.h"
 #include "DCCTimer.h"

+// use powers of two so we can do logical and/or on the track modes in if clauses.
+enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
+                        TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32};
+
 #define setHIGH(fastpin)  *fastpin.inout |= fastpin.maskHIGH
 #define setLOW(fastpin)   *fastpin.inout &= fastpin.maskLOW
 #define isHIGH(fastpin)   (*fastpin.inout & fastpin.maskHIGH)
@@ -145,6 +149,7 @@ class MotorDriver {
    };
    inline pinpair getSignalPin() { return pinpair(signalPin,signalPin2); };
    void setDCSignal(byte speedByte);
+    void throttleInrush(bool on);
    inline void detachDCSignal() {
 #if defined(__arm__)
      pinMode(brakePin, OUTPUT);
@@ -203,6 +208,12 @@ class MotorDriver {
    bool sampleCurrentFromHW();
    void startCurrentFromHW();
 #endif
+  inline void setMode(TRACK_MODE m) {
+    trackMode = m;
+  };
+  inline TRACK_MODE getMode() {
+    return trackMode;
+  };
  private:
    char trackLetter = '?';
    bool isProgTrack = false; // tells us if this is a prog track
@@ -279,6 +290,7 @@ class MotorDriver {
    static const int TRIP_CURRENT_PROG=250;
    unsigned long power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
    unsigned int power_good_counter = 0;
+    TRACK_MODE trackMode = TRACK_MODE_NONE; // we assume track not assigned at startup

 };
 #endif
--- a/TrackManager.cpp
+++ b/TrackManager.cpp
@@ -1,6 +1,7 @@
 /*
 *  © 2022 Chris Harlow
 *  © 2022 Harald Barth
+ *  © 2023 Colin Murdoch
 *  All rights reserved.
 *  
 *  This file is part of DCC++EX
@@ -31,20 +32,20 @@
    
 #define APPLY_BY_MODE(findmode,function) \
        FOR_EACH_TRACK(t) \
-            if (trackMode[t]==findmode) \
+	    if (track[t]->getMode()==findmode)	\
                track[t]->function;
 #ifndef DISABLE_PROG
 const int16_t HASH_KEYWORD_PROG = -29718;
 #endif
 const int16_t HASH_KEYWORD_MAIN = 11339;
 const int16_t HASH_KEYWORD_OFF = 22479;  
+const int16_t HASH_KEYWORD_NONE = -26550;
 const int16_t HASH_KEYWORD_DC = 2183;  
 const int16_t HASH_KEYWORD_DCX = 6463; // DC reversed polarity 
 const int16_t HASH_KEYWORD_EXT = 8201; // External DCC signal
 const int16_t HASH_KEYWORD_A = 65; // parser makes single chars the ascii.   

 MotorDriver * TrackManager::track[MAX_TRACKS];
-TRACK_MODE TrackManager::trackMode[MAX_TRACKS];
 int16_t TrackManager::trackDCAddr[MAX_TRACKS];

 POWERMODE TrackManager::mainPowerGuess=POWERMODE::OFF;
@@ -53,7 +54,7 @@ bool TrackManager::progTrackSyncMain=false;
 bool TrackManager::progTrackBoosted=false; 
 int16_t TrackManager::joinRelay=UNUSED_PIN;
 #ifdef ARDUINO_ARCH_ESP32
-byte TrackManager::tempProgTrack=MAX_TRACKS+1;
+byte TrackManager::tempProgTrack=MAX_TRACKS+1; // MAX_TRACKS+1 is the unused flag
 #endif

 #ifdef ANALOG_READ_INTERRUPT
@@ -74,7 +75,7 @@ void TrackManager::sampleCurrent() {
    waiting = false;
    tr++;
    if (tr > lastTrack) tr = 0;
-    if (lastTrack < 2 || trackMode[tr] & TRACK_MODE_PROG) {
+    if (lastTrack < 2 || track[tr]->getMode() & TRACK_MODE_PROG) {
      return; // We could continue but for prog track we
              // rather do it in next interrupt beacuse
              // that gives us well defined sampling point.
@@ -85,7 +86,7 @@ void TrackManager::sampleCurrent() {
  if (!waiting) {
    // look for a valid track to sample or until we are around
    while (true) {
-      if (trackMode[tr] & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_DCX|TRACK_MODE_EXT )) {
+      if (track[tr]->getMode() & ( TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_DCX|TRACK_MODE_EXT )) {
 	track[tr]->startCurrentFromHW();
 	// for scope debug track[1]->setBrake(1);
 	waiting = true;
@@ -138,10 +139,10 @@ void TrackManager::Setup(const FSH * shieldname,
 }

 void TrackManager::addTrack(byte t, MotorDriver* driver) {
-     trackMode[t]=TRACK_MODE_OFF;
     track[t]=driver;
     if (driver) {
         track[t]->setPower(POWERMODE::OFF);
+         track[t]->setMode(TRACK_MODE_NONE);
 	 track[t]->setTrackLetter('A'+t);
         lastTrack=t;
     } 
@@ -182,22 +183,27 @@ void TrackManager::setPROGSignal( bool on) {
 // with interrupts turned off around the critical section
 void TrackManager::setDCSignal(int16_t cab, byte speedbyte) {
  FOR_EACH_TRACK(t) {
-    if (trackDCAddr[t]!=cab) continue;
-    if (trackMode[t]==TRACK_MODE_DC) track[t]->setDCSignal(speedbyte);
-    else if (trackMode[t]==TRACK_MODE_DCX) track[t]->setDCSignal(speedbyte ^ 128);
+    if (trackDCAddr[t]!=cab && cab != 0) continue;
+    if (track[t]->getMode()==TRACK_MODE_DC) track[t]->setDCSignal(speedbyte);
+    else if (track[t]->getMode()==TRACK_MODE_DCX) track[t]->setDCSignal(speedbyte ^ 128);
  }
 }    

 bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr) {
    if (trackToSet>lastTrack || track[trackToSet]==NULL) return false;

-    //DIAG(F("Track=%c"),trackToSet+'A');
+    //DIAG(F("Track=%c Mode=%d"),trackToSet+'A', mode);
    // DC tracks require a motorDriver that can set brake!
-    if ((mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX)
-         && !track[trackToSet]->brakeCanPWM()) {
-             DIAG(F("Brake pin can't PWM: No DC"));
-             return false; 
-         }
+    if (mode==TRACK_MODE_DC || mode==TRACK_MODE_DCX) {
+#if defined(ARDUINO_AVR_UNO)
+      DIAG(F("Uno has no PWM timers available for DC"));
+      return false;
+#endif
+      if (!track[trackToSet]->brakeCanPWM()) {
+	DIAG(F("Brake pin can't PWM: No DC"));
+	return false;
+      }
+    }

 #ifdef ARDUINO_ARCH_ESP32
    // remove pin from MUX matrix and turn it off
@@ -218,9 +224,9 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 #endif
      // only allow 1 track to be prog
      FOR_EACH_TRACK(t)
-	if (trackMode[t]==TRACK_MODE_PROG && t != trackToSet) {
+	if (track[t]->getMode()==TRACK_MODE_PROG && t != trackToSet) {
 	  track[t]->setPower(POWERMODE::OFF);
-	  trackMode[t]=TRACK_MODE_OFF;
+	  track[t]->setMode(TRACK_MODE_NONE);
 	  track[t]->makeProgTrack(false);     // revoke prog track special handling
    streamTrackState(NULL,t);
 	}
@@ -228,7 +234,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
    } else {
      track[trackToSet]->makeProgTrack(false); // only the prog track knows it's type
    }
-    trackMode[trackToSet]=mode;
+    track[trackToSet]->setMode(mode);
    trackDCAddr[trackToSet]=dcAddr;
    streamTrackState(NULL,trackToSet);

@@ -255,7 +261,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
      // DC tracks must not have the DCC PWM switched on
      // so we globally turn it off if one of the PWM
      // capable tracks is now DC or DCX.
-      if (trackMode[t]==TRACK_MODE_DC || trackMode[t]==TRACK_MODE_DCX) {
+      if (track[t]->getMode()==TRACK_MODE_DC || track[t]->getMode()==TRACK_MODE_DCX) {
 	if (track[t]->isPWMCapable()) {
 	  canDo=false;    // this track is capable but can not run PWM
 	  break;          // in this mode, so abort and prevent globally below
@@ -263,7 +269,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
 	  track[t]->trackPWM=false; // this track sure can not run with PWM
 	  //DIAG(F("Track %c trackPWM 0 (not capable)"), t+'A');
 	}
-      } else if (trackMode[t]==TRACK_MODE_MAIN || trackMode[t]==TRACK_MODE_PROG) {
+      } else if (track[t]->getMode()==TRACK_MODE_MAIN || track[t]->getMode()==TRACK_MODE_PROG) {
 	track[t]->trackPWM = track[t]->isPWMCapable(); // trackPWM is still a guess here
 	//DIAG(F("Track %c trackPWM %d"), t+'A', track[t]->trackPWM);
 	canDo &= track[t]->trackPWM;
@@ -301,7 +307,7 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr

 void TrackManager::applyDCSpeed(byte t) {
  uint8_t speedByte=DCC::getThrottleSpeedByte(trackDCAddr[t]);
-  if (trackMode[t]==TRACK_MODE_DCX)
+  if (track[t]->getMode()==TRACK_MODE_DCX)
    speedByte = speedByte ^ 128; // reverse direction bit
  track[t]->setDCSignal(speedByte);
 }
@@ -328,8 +334,8 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
        return setTrackMode(p[0],TRACK_MODE_PROG);
 #endif
    
-    if (params==2  && p[1]==HASH_KEYWORD_OFF) // <= id OFF>
-        return setTrackMode(p[0],TRACK_MODE_OFF);
+    if (params==2  && (p[1]==HASH_KEYWORD_OFF || p[1]==HASH_KEYWORD_NONE)) // <= id OFF> <= id NONE>
+        return setTrackMode(p[0],TRACK_MODE_NONE);

    if (params==2  && p[1]==HASH_KEYWORD_EXT) // <= id EXT>
        return setTrackMode(p[0],TRACK_MODE_EXT);
@@ -347,7 +353,7 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
  // null stream means send to commandDistributor for broadcast
  if (track[t]==NULL) return;
  auto format=F("");
-  switch(trackMode[t]) {
+  switch(track[t]->getMode()) {
  case TRACK_MODE_MAIN:
      format=F("<= %c MAIN>\n");
      break;
@@ -356,8 +362,8 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
      format=F("<= %c PROG>\n");
      break;
 #endif
-  case TRACK_MODE_OFF:
-      format=F("<= %c OFF>\n");
+  case TRACK_MODE_NONE:
+      format=F("<= %c NONE>\n");
      break;
  case TRACK_MODE_EXT:
      format=F("<= %c EXT>\n");
@@ -387,13 +393,13 @@ void TrackManager::loop() {
    if (nextCycleTrack>lastTrack) nextCycleTrack=0;
    if (track[nextCycleTrack]==NULL) return;
    MotorDriver * motorDriver=track[nextCycleTrack];
-    bool useProgLimit=dontLimitProg? false: trackMode[nextCycleTrack]==TRACK_MODE_PROG;
+    bool useProgLimit=dontLimitProg? false: track[nextCycleTrack]->getMode()==TRACK_MODE_PROG;
    motorDriver->checkPowerOverload(useProgLimit, nextCycleTrack);   
 }

 MotorDriver * TrackManager::getProgDriver() {
    FOR_EACH_TRACK(t)
-        if (trackMode[t]==TRACK_MODE_PROG) return track[t];
+      if (track[t]->getMode()==TRACK_MODE_PROG) return track[t];
    return NULL;
 } 

@@ -401,7 +407,7 @@ MotorDriver * TrackManager::getProgDriver() {
 std::vector<MotorDriver *>TrackManager::getMainDrivers() {
  std::vector<MotorDriver *>  v;
  FOR_EACH_TRACK(t)
-    if (trackMode[t]==TRACK_MODE_MAIN) v.push_back(track[t]);
+    if (track[t]->getMode()==TRACK_MODE_MAIN) v.push_back(track[t]);
  return v;
 }
 #endif
@@ -411,7 +417,7 @@ void TrackManager::setPower2(bool setProg,POWERMODE mode) {
    FOR_EACH_TRACK(t) {
        MotorDriver * driver=track[t]; 
        if (!driver) continue; 
-        switch (trackMode[t]) {
+        switch (track[t]->getMode()) {
            case TRACK_MODE_MAIN:
                if (setProg) break; 
                // toggle brake before turning power on - resets overcurrent error
@@ -439,7 +445,7 @@ void TrackManager::setPower2(bool setProg,POWERMODE mode) {
 	        driver->setBrake(false);
 		driver->setPower(mode);
 	        break;
-            case TRACK_MODE_OFF:
+            case TRACK_MODE_NONE:
                break;
        }
    }
@@ -447,8 +453,8 @@ void TrackManager::setPower2(bool setProg,POWERMODE mode) {
  
 POWERMODE TrackManager::getProgPower() {
    FOR_EACH_TRACK(t)
-        if (trackMode[t]==TRACK_MODE_PROG) 
-                return track[t]->getPower();
+      if (track[t]->getMode()==TRACK_MODE_PROG) 
+	return track[t]->getPower();
    return POWERMODE::OFF;   
  }

@@ -492,7 +498,7 @@ void TrackManager::setJoin(bool joined) {
 #ifdef ARDUINO_ARCH_ESP32
  if (joined) {
    FOR_EACH_TRACK(t) {
-      if (trackMode[t]==TRACK_MODE_PROG) {
+      if (track[t]->getMode()==TRACK_MODE_PROG) {
 	tempProgTrack = t;
 	setTrackMode(t, TRACK_MODE_MAIN);
 	break;
@@ -500,7 +506,12 @@ void TrackManager::setJoin(bool joined) {
    }
  } else {
    if (tempProgTrack != MAX_TRACKS+1) {
+      // as setTrackMode with TRACK_MODE_PROG defaults to
+      // power off, we will take the current power state
+      // of our track and then preserve that state.
+      POWERMODE tPTmode = track[tempProgTrack]->getPower(); //get current power status of this track
      setTrackMode(tempProgTrack, TRACK_MODE_PROG);
+      track[tempProgTrack]->setPower(tPTmode);              //set track status as it was before
      tempProgTrack = MAX_TRACKS+1;
    }
  }
@@ -508,3 +519,10 @@ void TrackManager::setJoin(bool joined) {
  progTrackSyncMain=joined;
  if (joinRelay!=UNUSED_PIN) digitalWrite(joinRelay,joined?HIGH:LOW);
 }
+
+bool TrackManager::isPowerOn(byte t) {
+      if (track[t]->getPower()!=POWERMODE::ON) 
+	        return false;
+    return true;   
+  }
+
--- a/TrackManager.h
+++ b/TrackManager.h
@@ -1,6 +1,8 @@
 /*
 *  © 2022 Chris Harlow
 *  © 2022 Harald Barth
+ *  © 2023 Colin Murdoch
+ * 
 *  All rights reserved.
 *  
 *  This file is part of CommandStation-EX
@@ -27,10 +29,6 @@
 #include "MotorDriver.h"
 // Virtualised Motor shield multi-track hardware Interface

-// use powers of two so we can do logical and/or on the track modes in if clauses.
-enum TRACK_MODE : byte {TRACK_MODE_OFF = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
-                        TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32};
-
 // These constants help EXRAIL macros say SET_TRACK(2,mode) OR SET_TRACK(C,mode) etc.
 const byte TRACK_NUMBER_0=0, TRACK_NUMBER_A=0;    
 const byte TRACK_NUMBER_1=1, TRACK_NUMBER_B=1;    
@@ -81,6 +79,7 @@ class TrackManager {
    static void reportCurrent(Print* stream);
    static void reportObsoleteCurrent(Print* stream); 
    static void streamTrackState(Print* stream, byte t);
+    static bool isPowerOn(byte t);

    static int16_t joinRelay;
    static bool progTrackSyncMain;  // true when prog track is a siding switched to main
@@ -100,7 +99,6 @@ class TrackManager {
    static POWERMODE mainPowerGuess;
    static void applyDCSpeed(byte t);

-    static TRACK_MODE trackMode[MAX_TRACKS]; 
    static int16_t trackDCAddr[MAX_TRACKS];  // dc address if TRACK_MODE_DC or TRACK_MODE_DCX
 #ifdef ARDUINO_ARCH_ESP32
    static byte tempProgTrack; // holds the prog track number during join
--- a/Turntables.cpp
+++ b/Turntables.cpp
@@ -0,0 +1,268 @@
+/*
+ *  © 2023 Peter Cole
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include "defines.h"
+#include <Arduino.h>
+#include "Turntables.h"
+#include "StringFormatter.h"
+#include "CommandDistributor.h"
+#include "EXRAIL2.h"
+#include "DCC.h"
+
+// No turntable support without HAL
+#ifndef IO_NO_HAL
+
+/*
+ * Protected static data
+ */
+Turntable *Turntable::_firstTurntable = 0;
+
+
+/*
+ * Public static data
+ */
+int Turntable::turntablelistHash = 0;
+
+
+/*
+ * Protected static functions
+ */
+// Add new turntable to end of list
+
+void Turntable::add(Turntable *tto) {
+  if (!_firstTurntable) {
+    _firstTurntable = tto;
+  } else {
+    Turntable *ptr = _firstTurntable;
+    for ( ; ptr->_nextTurntable!=0; ptr=ptr->_nextTurntable) {}
+    ptr->_nextTurntable = tto;
+  }
+  turntablelistHash++;
+}
+
+// Add a position
+void Turntable::addPosition(uint8_t idx, uint16_t value, uint16_t angle) {
+  _turntablePositions.insert(idx, value, angle);
+}
+
+// Get value for position
+uint16_t Turntable::getPositionValue(uint8_t position) {
+  TurntablePosition* currentPosition = _turntablePositions.getHead();
+  while (currentPosition) {
+    if (currentPosition->index == position) {
+      return currentPosition->data;
+    }
+    currentPosition = currentPosition->next;
+  }
+  return false;
+}
+
+// Get value for position
+uint16_t Turntable::getPositionAngle(uint8_t position) {
+  TurntablePosition* currentPosition = _turntablePositions.getHead();
+  while (currentPosition) {
+    if (currentPosition->index == position) {
+      return currentPosition->angle;
+    }
+    currentPosition = currentPosition->next;
+  }
+  return false;
+}
+
+// Get the count of positions associated with the turntable
+uint8_t Turntable::getPositionCount()  {
+  TurntablePosition* currentPosition = _turntablePositions.getHead();
+  uint8_t count = 0;
+  while (currentPosition) {
+    count++;
+    currentPosition = currentPosition->next;
+  }
+  return count;
+}
+
+/*
+ * Public static functions
+ */
+// Find turntable from list
+Turntable *Turntable::get(uint16_t id) {
+  for (Turntable *tto = _firstTurntable; tto != nullptr; tto = tto->_nextTurntable)
+    if (tto->_turntableData.id == id) return tto;
+  return NULL;
+}
+
+// Find turntable via Vpin
+Turntable *Turntable::getByVpin(VPIN vpin) {
+  for (Turntable *tto = _firstTurntable; tto != nullptr; tto = tto->_nextTurntable) {
+    if (tto->isEXTT()) {
+      EXTTTurntable *exttTto = static_cast<EXTTTurntable*>(tto);
+      if (exttTto->getVpin() == vpin) {
+        return tto;
+      }
+    }
+  }
+  return nullptr;
+}
+
+// Get the current position for turntable with the specified ID
+uint8_t Turntable::getPosition(uint16_t id) {
+  Turntable *tto = get(id);
+  if (!tto) return false;
+  return tto->getPosition();
+}
+
+// Got the moving state of the specified turntable
+bool Turntable::ttMoving(uint16_t id) {
+  Turntable *tto = get(id);
+  if (!tto) return false;
+  return tto->isMoving();
+}
+
+// Initiate a turntable move
+bool Turntable::setPosition(uint16_t id, uint8_t position, uint8_t activity) {
+#if defined(DIAG_IO)
+  DIAG(F("Rotate turntable %d to position %d, activity %d)"), id, position, activity);
+#endif
+  Turntable *tto = Turntable::get(id);
+  if (!tto) return false;
+  if (tto->isMoving()) return false;
+  bool ok = tto->setPositionInternal(position, activity);
+
+  if (ok) {
+    // We only deal with broadcasts for DCC turntables here, EXTT in the device driver
+    if (!tto->isEXTT()) {
+      CommandDistributor::broadcastTurntable(id, position, false);
+    }
+    // Trigger EXRAIL rotateEvent for both types here if changed
+#if defined(EXRAIL_ACTIVE)
+    bool rotated = false;
+    if (position != tto->_previousPosition) rotated = true;
+    RMFT2::rotateEvent(id, rotated);
+#endif
+  }
+  return ok;
+}
+
+/*************************************************************************************
+ * EXTTTurntable - EX-Turntable device.
+ * 
+ *************************************************************************************/
+// Private constructor
+EXTTTurntable::EXTTTurntable(uint16_t id, VPIN vpin) :
+  Turntable(id, TURNTABLE_EXTT)
+{
+  _exttTurntableData.vpin = vpin;
+}
+
+using DevState = IODevice::DeviceStateEnum;
+
+// Create function
+  Turntable *EXTTTurntable::create(uint16_t id, VPIN vpin) {
+#ifndef IO_NO_HAL
+    Turntable *tto = get(id);
+    if (tto) {
+      if (tto->isType(TURNTABLE_EXTT)) {
+        EXTTTurntable *extt = (EXTTTurntable *)tto;
+        extt->_exttTurntableData.vpin = vpin;
+        return tto;
+      }
+    }
+    if (!IODevice::exists(vpin)) return nullptr;
+    if (IODevice::getStatus(vpin) == DevState::DEVSTATE_FAILED) return nullptr;
+    if (Turntable::getByVpin(vpin)) return nullptr;
+    tto = (Turntable *)new EXTTTurntable(id, vpin);
+    DIAG(F("Turntable 0x%x size %d size %d"), tto, sizeof(Turntable), sizeof(struct TurntableData));
+    return tto;
+#else
+  (void)id;
+  (void)vpin;
+  return NULL;
+#endif
+  }
+
+  void EXTTTurntable::print(Print *stream) {
+    StringFormatter::send(stream, F("<i %d EXTURNTABLE %d>\n"), _turntableData.id, _exttTurntableData.vpin);
+  }
+
+  // EX-Turntable specific code for moving to the specified position
+  bool EXTTTurntable::setPositionInternal(uint8_t position, uint8_t activity) {
+#ifndef IO_NO_HAL
+    int16_t value;
+    if (position == 0) {
+      value = 0;  // Position 0 is just to send activities
+    } else {
+      if (activity > 1) return false; // If sending a position update, only phase changes valid (0|1)
+      value = getPositionValue(position); // Get position value from position list
+    }
+    if (position > 0 && !value) return false; // Return false if it's not a valid position
+    // Set position via device driver
+    _previousPosition = _turntableData.position;
+    _turntableData.position = position;
+    EXTurntable::writeAnalogue(_exttTurntableData.vpin, value, activity);
+#else
+    (void)position;
+#endif
+    return true;
+  }
+
+/*************************************************************************************
+ * DCCTurntable - DCC Turntable device.
+ * 
+ *************************************************************************************/
+// Private constructor
+DCCTurntable::DCCTurntable(uint16_t id) : Turntable(id, TURNTABLE_DCC) {}
+
+// Create function
+  Turntable *DCCTurntable::create(uint16_t id) {
+#ifndef IO_NO_HAL
+    Turntable *tto = get(id);
+    if (!tto) {
+      tto = (Turntable *)new DCCTurntable(id);
+      DIAG(F("Turntable 0x%x size %d size %d"), tto, sizeof(Turntable), sizeof(struct TurntableData));
+    }
+    return tto;
+#else
+  (void)id;
+  return NULL;
+#endif
+  }
+
+  void DCCTurntable::print(Print *stream) {
+    StringFormatter::send(stream, F("<i %d DCCTURNTABLE>\n"), _turntableData.id);
+  }
+
+  // EX-Turntable specific code for moving to the specified position
+  bool DCCTurntable::setPositionInternal(uint8_t position, uint8_t activity) {
+#ifndef IO_NO_HAL
+    int16_t value = getPositionValue(position);
+    if (position == 0 || !value) return false; // Return false if it's not a valid position
+    // Set position via device driver
+    int16_t addr=value>>3;
+    int16_t subaddr=(value>>1) & 0x03;
+    bool active=value & 0x01;
+    _previousPosition = _turntableData.position;
+    _turntableData.position = position;
+    DCC::setAccessory(addr, subaddr, active);
+#else
+    (void)position;
+#endif
+    return true;
+  }
+
+#endif
--- a/Turntables.h
+++ b/Turntables.h
@@ -0,0 +1,243 @@
+/*
+ *  © 2023 Peter Cole
+ *  All rights reserved.
+ *  
+ *  This file is part of CommandStation-EX
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef TURNTABLES_H
+#define TURNTABLES_H
+
+#include <Arduino.h>
+#include "IODevice.h"
+#include "StringFormatter.h"
+
+// No turntable support without HAL
+#ifndef IO_NO_HAL
+
+// Turntable type definitions
+// EXTT = EX-Turntable
+// DCC = DCC accessory turntables - to be added later
+enum {
+  TURNTABLE_EXTT = 0,
+  TURNTABLE_DCC = 1,
+};
+
+/*************************************************************************************
+ * Turntable positions.
+ * 
+ *************************************************************************************/
+struct TurntablePosition {
+  uint8_t index;
+  uint16_t data;
+  uint16_t angle;
+  TurntablePosition* next;
+  
+  TurntablePosition(uint8_t idx, uint16_t value, uint16_t angle) : index(idx), data(value), angle(angle), next(nullptr) {}
+};
+
+class TurntablePositionList {
+public:
+  TurntablePositionList() : head(nullptr) {}
+
+  void insert(uint8_t idx, uint16_t value, uint16_t angle) {
+    TurntablePosition* newPosition = new TurntablePosition(idx, value, angle);
+    if(!head) {
+      head = newPosition;
+    } else {
+      newPosition->next = head;
+      head = newPosition;
+    }
+  }
+
+  TurntablePosition* getHead() {
+    return head;
+  }
+
+private:
+  TurntablePosition* head;
+
+};
+
+
+/*************************************************************************************
+ * Turntable - Base class for turntables.
+ * 
+ *************************************************************************************/
+
+class Turntable {
+protected:
+  /*
+   * Object data
+   */
+
+  //  Data common to all turntable types
+  struct TurntableData {
+    union {
+      struct {
+        bool hidden : 1;
+        bool turntableType : 1;
+        uint8_t position : 6;       // Allows up to 63 positions including 0/home
+      };
+      uint8_t flags;
+    };
+    uint16_t id;
+  } _turntableData;
+
+  // Pointer to next turntable object
+  Turntable *_nextTurntable = 0;
+
+  // Linked list for positions
+  TurntablePositionList _turntablePositions;
+  
+  // Store the previous position to allow checking for changes
+  uint8_t _previousPosition = 0;
+
+  // Store the current state of the turntable
+  bool _isMoving = false;
+
+  /*
+   * Constructor
+   */
+  Turntable(uint16_t id, uint8_t turntableType) {
+    _turntableData.id = id;
+    _turntableData.turntableType = turntableType;
+    _turntableData.hidden = false;
+    _turntableData.position = 0;
+    add(this);
+  }
+
+  /*
+   * Static data
+   */
+  static Turntable *_firstTurntable;
+  static int _turntablelistHash;
+
+  /*
+   * Virtual functions
+   */
+  virtual bool setPositionInternal(uint8_t position, uint8_t activity) = 0;
+
+  /*
+   * Static functions
+   */
+  static void add(Turntable *tto);
+
+public:
+  static Turntable *get(uint16_t id);
+  static Turntable *getByVpin(VPIN vpin);
+
+  /*
+   * Static data
+   */
+  static int turntablelistHash;
+
+  /*
+   * Public base class functions
+   */
+  inline uint8_t getPosition() { return _turntableData.position; }
+  inline bool isHidden() { return _turntableData.hidden; }
+  inline void setHidden(bool h) {_turntableData.hidden=h; }
+  inline bool isType(uint8_t type) { return _turntableData.turntableType == type; }
+  inline bool isEXTT() const { return _turntableData.turntableType == TURNTABLE_EXTT; }
+  inline uint16_t getId() { return _turntableData.id; }
+  inline Turntable *next() { return _nextTurntable; }
+  void printState(Print *stream);
+  void addPosition(uint8_t idx, uint16_t value, uint16_t angle);
+  uint16_t getPositionValue(uint8_t position);
+  uint16_t getPositionAngle(uint8_t position);
+  uint8_t getPositionCount();
+  bool isMoving() { return _isMoving; }
+  void setMoving(bool moving) { _isMoving=moving; }
+
+  /*
+   * Virtual functions
+   */
+  virtual void print(Print *stream) {
+    (void)stream; // suppress compiler warnings
+  }
+  virtual ~Turntable() {} // Destructor
+  
+
+  /*
+   * Public static functions
+   */
+  inline static bool exists(uint16_t id) { return get(id) != 0; }
+  static bool setPosition(uint16_t id, uint8_t position, uint8_t activity=0);
+  static uint8_t getPosition(uint16_t id);
+  static bool ttMoving(uint16_t id);
+  inline static Turntable *first() { return _firstTurntable; }
+  static bool printAll(Print *stream) {
+    bool gotOne = false;
+    for (Turntable *tto = _firstTurntable; tto != 0; tto = tto->_nextTurntable)
+      if (!tto->isHidden()) {
+        gotOne = true;
+        StringFormatter::send(stream, F("<i %d %d>\n"), tto->getId(), tto->getPosition());
+      }
+    return gotOne;
+  }
+
+};
+
+/*************************************************************************************
+ * EXTTTurntable - EX-Turntable device.
+ * 
+ *************************************************************************************/
+class EXTTTurntable : public Turntable {
+private:
+  // EXTTTurntableData contains device specific data
+  struct EXTTTurntableData {
+    VPIN vpin;
+  } _exttTurntableData;
+
+  // Constructor
+  EXTTTurntable(uint16_t id, VPIN vpin);
+
+public:
+  // Create function
+  static Turntable *create(uint16_t id, VPIN vpin);
+  void print(Print *stream) override;
+  VPIN getVpin() const { return _exttTurntableData.vpin; }
+
+protected:
+  // EX-Turntable specific code for setting position
+  bool setPositionInternal(uint8_t position, uint8_t activity) override;
+
+};
+
+/*************************************************************************************
+ * DCCTurntable - DCC accessory Turntable device.
+ * 
+ *************************************************************************************/
+class DCCTurntable : public Turntable {
+private:
+  // Constructor
+  DCCTurntable(uint16_t id);
+
+public:
+  // Create function
+  static Turntable *create(uint16_t id);
+  void print(Print *stream) override;
+
+protected:
+  // DCC specific code for setting position
+  bool setPositionInternal(uint8_t position, uint8_t activity=0) override;
+
+};
+
+#endif
+
+#endif
--- a/WifiESP32.cpp
+++ b/WifiESP32.cpp
@@ -1,6 +1,7 @@
 /*
-    © 2023, Paul M. Antoine
-    © 2021, Harald Barth.
+    © 2023 Paul M. Antoine
+    © 2021 Harald Barth
+    © 2023 Nathan Kellenicki

    This file is part of CommandStation-EX

@@ -117,7 +118,8 @@ bool WifiESP::setup(const char *SSid,
                    const char *password,
                    const char *hostname,
                    int port,
-                    const byte channel) {
+                    const byte channel,
+                    const bool forceAP) {
  bool havePassword = true;
  bool haveSSID = true;
  bool wifiUp = false;
@@ -145,7 +147,7 @@ bool WifiESP::setup(const char *SSid,
  if (strncmp(yourNetwork, password, 13) == 0 || strncmp("", password, 13) == 0)
    havePassword = false;

-  if (haveSSID && havePassword) {
+  if (haveSSID && havePassword && !forceAP) {
    WiFi.setHostname(hostname); // Strangely does not work unless we do it HERE!
    WiFi.mode(WIFI_STA);
 #ifdef SERIAL_BT_COMMANDS
@@ -183,18 +185,20 @@ bool WifiESP::setup(const char *SSid,
      }
    }
  }
-  if (!haveSSID) {
+  if (!haveSSID || forceAP) {
    // prepare all strings
-    String strSSID("DCCEX_");
-    String strPass("PASS_");
-    String strMac = WiFi.macAddress();
-    strMac.remove(0,9);
-    strMac.replace(":","");
-    strMac.replace(":","");
-    // convert mac addr hex chars to lower case to be compatible with AT software
-    std::transform(strMac.begin(), strMac.end(), strMac.begin(), asciitolower);
-    strSSID.concat(strMac);
-    strPass.concat(strMac);
+    String strSSID(forceAP ? SSid : "DCCEX_");
+    String strPass(forceAP ? password : "PASS_");
+    if (!forceAP) {
+      String strMac = WiFi.macAddress();
+      strMac.remove(0,9);
+      strMac.replace(":","");
+      strMac.replace(":","");
+      // convert mac addr hex chars to lower case to be compatible with AT software
+      std::transform(strMac.begin(), strMac.end(), strMac.begin(), asciitolower);
+      strSSID.concat(strMac);
+      strPass.concat(strMac);
+    }

    WiFi.mode(WIFI_AP);
 #ifdef SERIAL_BT_COMMANDS
--- a/WifiESP32.h
+++ b/WifiESP32.h
@@ -1,5 +1,6 @@
 /*
- *  © 2021, Harald Barth.
+ *  © 2021 Harald Barth
+ *  © 2023 Nathan Kellenicki
 *
 *  This file is part of CommandStation-EX
 *
@@ -31,7 +32,8 @@ public:
 		    const char *wifiPassword,
 		    const char *hostname,
 		    const int port,
-		    const byte channel);
+		    const byte channel,
+			const bool forceAP);
  static void loop();
 private:
 };
--- a/WifiInterface.cpp
+++ b/WifiInterface.cpp
@@ -2,6 +2,7 @@
 *  © 2021 Fred Decker
 *  © 2020-2022 Harald Barth
 *  © 2020-2022 Chris Harlow
+ *  © 2023 Nathan Kellenicki
 *  All rights reserved.
 *
 *  This file is part of CommandStation-EX
@@ -59,7 +60,7 @@ Stream * WifiInterface::wifiStream;
 #if defined(ARDUINO_ARCH_STM32)
 // Handle serial ports availability on STM32 for variants!
 // #undef NUM_SERIAL
-#if defined(ARDUINO_NUCLEO_F411RE)
+#if defined(ARDUINO_NUCLEO_F401RE) || defined(ARDUINO_NUCLEO_F411RE)
 #define NUM_SERIAL 3
 #define SERIAL1 Serial1
 #define SERIAL3 Serial6
@@ -67,9 +68,11 @@ Stream * WifiInterface::wifiStream;
 #define NUM_SERIAL 3
 #define SERIAL1 Serial3
 #define SERIAL3 Serial5
-#elif defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
+#elif defined(ARDUINO_NUCLEO_F413ZH) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE) || defined(ARDUINO_NUCLEO_F412ZG)
 #define NUM_SERIAL 2
 #define SERIAL1 Serial6
+#else
+#warning This variant of Nucleo not yet explicitly supported
 #endif
 #endif

@@ -83,7 +86,8 @@ bool WifiInterface::setup(long serial_link_speed,
                          const FSH *wifiPassword,
                          const FSH *hostname,
                          const int port,
-                          const byte channel) {
+                          const byte channel,
+                          const bool forceAP) {

  wifiSerialState wifiUp = WIFI_NOAT;

@@ -95,12 +99,13 @@ bool WifiInterface::setup(long serial_link_speed,
  (void) hostname;
  (void) port;
  (void) channel;
+  (void) forceAP;
 #endif  

 // See if the WiFi is attached to the first serial port
 #if NUM_SERIAL > 0 && !defined(SERIAL1_COMMANDS)
  SERIAL1.begin(serial_link_speed);
-  wifiUp = setup(SERIAL1, wifiESSID, wifiPassword, hostname, port, channel);
+  wifiUp = setup(SERIAL1, wifiESSID, wifiPassword, hostname, port, channel, forceAP);
 #endif

 // Other serials are tried, depending on hardware.
@@ -110,7 +115,7 @@ bool WifiInterface::setup(long serial_link_speed,
  if (wifiUp == WIFI_NOAT)
  {
    Serial2.begin(serial_link_speed);
-    wifiUp = setup(Serial2, wifiESSID, wifiPassword, hostname, port, channel);
+    wifiUp = setup(Serial2, wifiESSID, wifiPassword, hostname, port, channel, forceAP);
  }
 #endif
 #endif
@@ -121,7 +126,7 @@ bool WifiInterface::setup(long serial_link_speed,
  if (wifiUp == WIFI_NOAT)
  {
    SERIAL3.begin(serial_link_speed);
-    wifiUp = setup(SERIAL3, wifiESSID, wifiPassword, hostname, port, channel);
+    wifiUp = setup(SERIAL3, wifiESSID, wifiPassword, hostname, port, channel, forceAP);
  }
 #endif

@@ -139,7 +144,7 @@ bool WifiInterface::setup(long serial_link_speed,
 }

 wifiSerialState WifiInterface::setup(Stream & setupStream,  const FSH* SSid, const FSH* password,
-				     const FSH* hostname,  int port, byte channel) {
+				     const FSH* hostname,  int port, byte channel, bool forceAP) {
  wifiSerialState wifiState;
  static uint8_t ntry = 0;
  ntry++;
@@ -148,7 +153,7 @@ wifiSerialState WifiInterface::setup(Stream & setupStream,  const FSH* SSid, con

  DIAG(F("++ Wifi Setup Try %d ++"), ntry);

-  wifiState = setup2( SSid, password, hostname,  port, channel);
+  wifiState = setup2( SSid, password, hostname,  port, channel, forceAP);

  if (wifiState == WIFI_NOAT) {
    LCD(4, F("WiFi no AT chip"));
@@ -172,7 +177,7 @@ wifiSerialState WifiInterface::setup(Stream & setupStream,  const FSH* SSid, con
 #pragma GCC diagnostic ignored "-Wunused-parameter"
 #endif
 wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
-				      const FSH* hostname, int port, byte channel) {
+				      const FSH* hostname, int port, byte channel, bool forceAP) {
  bool ipOK = false;
  bool oldCmd = false;

@@ -195,7 +200,21 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,

  // Display the AT version information
  StringFormatter::send(wifiStream, F("AT+GMR\r\n")); 
-  checkForOK(2000, true, false);      // Makes this visible on the console
+  if (checkForOK(2000, F("AT version:"), true, false)) {
+    char version[] = "0.0.0.0";
+    for (int i=0; i<8;i++) {
+      while(!wifiStream->available());
+      version[i]=wifiStream->read();
+      StringFormatter::printEscape(version[i]);
+      if ((version[0] == '0') ||
+	  (version[0] == '2' && version[2] == '0') ||
+	  (version[0] == '2' && version[2] == '2' && version[4] == '0' && version[6] == '0')) {
+	SSid = F("DCCEX_SAYS_BROKEN_FIRMWARE");
+	forceAP = true;
+      }
+    }
+  }
+  checkForOK(2000, true, false);

 #ifdef DONT_TOUCH_WIFI_CONF
  DIAG(F("DONT_TOUCH_WIFI_CONF was set: Using existing config"));
@@ -225,7 +244,7 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
 	  if (!checkForOK(1000, F("0.0.0.0"), true,false))
 	      ipOK = true;
    }
-  } else {
+  } else if (!forceAP) {
      // SSID was configured, so we assume station (client) mode.
      if (oldCmd) {
 	      // AT command early version supports CWJAP/CWSAP
@@ -285,14 +304,19 @@ wifiSerialState WifiInterface::setup2(const FSH* SSid, const FSH* password,
  
    i=0;
    do {
-      if (STRNCMP_P(yourNetwork, (const char*)password, 13) == 0) {
-	// unconfigured
-        StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"DCCEX_%s\",\"PASS_%s\",%d,4\r\n"),
-                                          oldCmd ? "" : "_CUR", macTail, macTail, channel);
+      if (!forceAP) {
+        if (STRNCMP_P(yourNetwork, (const char*)password, 13) == 0) {
+    // unconfigured
+          StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"DCCEX_%s\",\"PASS_%s\",%d,4\r\n"),
+                                            oldCmd ? "" : "_CUR", macTail, macTail, channel);
+        } else {
+          // password configured by user
+          StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"DCCEX_%s\",\"%S\",%d,4\r\n"), oldCmd ? "" : "_CUR",
+                                          macTail, password, channel);
+        }
      } else {
-        // password configured by user
-       StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"DCCEX_%s\",\"%S\",%d,4\r\n"), oldCmd ? "" : "_CUR",
-	                                       macTail, password, channel);
+        StringFormatter::send(wifiStream, F("AT+CWSAP%s=\"%S\",\"%S\",%d,4\r\n"),
+                                        oldCmd ? "" : "_CUR", SSid, password, channel);
      }
    } while (!checkForOK(WIFI_CONNECT_TIMEOUT, true) && i++<2); // do twice if necessary but ignore failure as AP mode may still be ok
    if (i >= 2)
--- a/WifiInterface.h
+++ b/WifiInterface.h
@@ -1,6 +1,7 @@
 /*
 *  © 2020-2021 Chris Harlow
 *  © 2020, Harald Barth.
+ *  © 2023 Nathan Kellenicki
 *  All rights reserved.
 *
 *  This file is part of CommandStation-EX
@@ -36,17 +37,18 @@ public:
                          const FSH *wifiPassword,
                          const FSH *hostname,
                          const int port,
-                          const byte channel);
+                          const byte channel,
+                          const bool forceAP);
  static void loop();
  static void ATCommand(HardwareSerial * stream,const byte *command);
  
 private:
  static wifiSerialState setup(Stream &setupStream, const FSH *SSSid, const FSH *password,
-                    const FSH *hostname, int port, byte channel);
+                    const FSH *hostname, int port, byte channel, bool forceAP);
  static Stream *wifiStream;
  static DCCEXParser parser;
  static wifiSerialState setup2(const FSH *SSSid, const FSH *password,
-                     const FSH *hostname, int port, byte channel);
+                     const FSH *hostname, int port, byte channel, bool forceAP);
  static bool checkForOK(const unsigned int timeout, bool echo, bool escapeEcho = true);
  static bool checkForOK(const unsigned int timeout, const FSH *waitfor, bool echo, bool escapeEcho = true);
  static bool connected;
--- a/config.example.h
+++ b/config.example.h
@@ -4,6 +4,7 @@
 *  © 2020-2023 Harald Barth
 *  © 2020-2021 Fred Decker
 *  © 2020-2021 Chris Harlow
+ *  © 2023 Nathan Kellenicki
 *  
 *  This file is part of CommandStation-EX
 *
@@ -123,6 +124,11 @@ The configuration file for DCC-EX Command Station
 // this line exists or not. If you need to use an alternate channel (we recommend
 // using only 1,6, or 11) you may change it here.
 #define WIFI_CHANNEL 1
+//
+// WIFI_FORCE_AP: If you'd like to specify your own WIFI_SSID in AP mode, set this
+// true. Otherwise it is assumed that you'd like to connect to an existing network
+// with that SSID.
+#define WIFI_FORCE_AP false

 /////////////////////////////////////////////////////////////////////////////////////
 //
--- a/defines.h
+++ b/defines.h
@@ -144,9 +144,9 @@
    #define DISABLE_EEPROM
  #endif
  // STM32 support for native I2C is awaiting development 
-  #ifndef I2C_USE_WIRE
-  #define I2C_USE_WIRE
-  #endif
+  // #ifndef I2C_USE_WIRE
+  // #define I2C_USE_WIRE
+  // #endif

 /* TODO when ready 
 #elif defined(ARDUINO_ARCH_RP2040)
@@ -182,6 +182,15 @@
  #define WIFI_ON false
 #endif

+#ifndef WIFI_FORCE_AP
+  #define WIFI_FORCE_AP false
+#else
+  #if WIFI_FORCE_AP==true || WIFI_FORCE_AP==false
+  #else
+    #error WIFI_FORCE_AP needs to be true or false
+  #endif
+#endif
+
 #if ENABLE_ETHERNET
  #if defined(HAS_ENOUGH_MEMORY)
    #define ETHERNET_ON true
@@ -204,6 +213,19 @@
 //
 #define WIFI_SERIAL_LINK_SPEED 115200

+////////////////////////////////////////////////////////////////////////////////
+//
+// Define symbol IO_NO_HAL to reduce FLASH footprint when HAL features not required
+// The HAL is disabled by default on Nano and Uno platforms, because of limited flash space.
+// 
+#if defined(ARDUINO_AVR_NANO) || defined(ARDUINO_AVR_UNO)
+  #if defined(DISABLE_DIAG) && defined(DISABLE_EEPROM) && defined(DISABLE_PROG)
+    #warning you have sacrificed DIAG for HAL
+  #else
+    #define IO_NO_HAL
+  #endif
+#endif
+
 #if __has_include ( "myAutomation.h")
  #if defined(HAS_ENOUGH_MEMORY) || defined(DISABLE_EEPROM) || defined(DISABLE_PROG)
    #define EXRAIL_ACTIVE
--- a/myHal.cpp_example.txt
+++ b/myHal.cpp_example.txt
@@ -51,7 +51,7 @@ void halSetup() {
  // Create a 20x4 LCD display device as display number 2 
  // (line 0 is written by EX-RAIL 'SCREEN(2, 0, "text")').

-  // HALDisplay<LiquidCrystal>(2, 0x27, 20, 4);
+  // HALDisplay<LiquidCrystal>::create(2, 0x27, 20, 4);


  //=======================================================================
--- a/platformio.ini
+++ b/platformio.ini
@@ -30,7 +30,7 @@ include_dir = .

 [env]
 build_flags = -Wall -Wextra
-monitor_filters = time
+; monitor_filters = time
 ; lib_deps = adafruit/Adafruit ST7735 and ST7789 Library @ ^1.10.0

 [env:samd21-dev-usb]
--- a/version.h
+++ b/version.h
@@ -3,10 +3,32 @@

 #include "StringFormatter.h"

-
-#define VERSION "4.2.62pre3"
-// 4.2.62 - completely new overcurrent detection
+#define VERSION "5.1.6"
+// 5.1.6  - STM32F4xx native I2C driver added
+// 5.1.5  - Added turntable object and EXRAIL commands
+//        - <I ...>, <JO ...>, <JP ...> - turntable commands
+//        - DCC_TURNTABLE, EXTT_TURNTABLE, IFTTPOSITION, ONROTATE, ROTATE, ROTATE_DCC, TT_ADDPOSITION, WAITFORTT EXRAIL
+// 5.1.4  - Added ONOVERLOAD & AFTEROVERLOAD to EXRAIL
+// 5.1.3  - Make parser more fool proof
+// 5.1.2  - Bugfix: ESP32 30ms off time
+// 5.1.1  - Check bad AT firmware version
+//        - Update IO_PCA9555.h reflecting IO_MCP23017.h changes to support PCA9548 mux
+// 5.0.1  - Bugfix: execute 30ms off time before rejoin
+// 5.0.0  - Make 4.2.69 the 5.0.0 release
+// 4.2.69 - Bugfix: Make <!> work in DC mode
+// 4.2.68 - Rename track mode OFF to NONE
+// 4.2.67 - AVR: Pin specific timer register seting
+//        - Protect Uno user from choosing DC(X)
+//        - More Nucleo variant defines
+//        - GPIO PCA9555 / TCA9555 support
+// 4.2.66 - Throttle inrush current by applying PWM to brake pin when
+//          fault pin goes active
+// 4.2.65 - new config WIFI_FORCE_AP option
+// 4.2.63 - completely new overcurrent detection
 //        - ESP32 protect from race in RMT code
+// 4.2.62 - Update IO_RotaryEncoder.h to ignore sending current position
+//        - Update IO_EXTurntable.h to remove forced I2C clock speed
+//        - Show device offline if EX-Turntable not connected
 // 4.2.61 - MAX_CURRENT restriction (caps motor shield value)
 // 4.2.60 - Add mDNS capability to ESP32 for autodiscovery
 // 4.2.59 - Fix: AP SSID was DCC_ instead of DCCEX_
Author	SHA1	Message	Date
pmantoine	ebbeea5fbb	STM32F4xx native I2C driver merge	2023-09-13 16:46:36 +08:00
pmantoine	a8321fff42	Merge pull request #352 from DCC-EX/STM32_I2C_PMA_NEIL Stm32 i2 c pma neil	2023-09-13 16:43:59 +08:00
peteGSX	a16790f585	Merge pull request #349 from DCC-EX:add-turntable-object Add-turntable-object	2023-09-11 05:02:20 +10:00
peteGSX	da6a3c442f	Remove redundant line	2023-09-10 18:41:14 +10:00
peteGSX	4fcd81a118	Update version	2023-09-10 07:18:54 +10:00
peteGSX	eb450dbd89	Merge branch 'devel' into add-turntable-object	2023-09-10 07:13:16 +10:00
peteGSX	a0562fdf5c	Update defines to match changes in devel	2023-09-10 07:06:27 +10:00
peteGSX	7ee2c29a52	Include HAL create with EXTT_TURNTABLE	2023-09-10 05:30:48 +10:00
peteGSX	dba5d35aa2	Add response to create	2023-09-09 09:23:10 +10:00
peteGSX	be10be5a1a	Added angles	2023-09-09 07:22:10 +10:00
Colin Murdoch	dca023ffd7	Update version.h Added ONOVERLOAD and AFTEROVERLOAD as 5.1.4	2023-09-07 20:27:25 +01:00
Colin Murdoch	4eef9581fe	Merge branch 'devel-plus-onoverload' into devel	2023-09-07 20:23:17 +01:00
peteGSX	bd02d1c15b	WAITFORTT ready for testing	2023-09-07 07:58:19 +10:00
peteGSX	004d7b6631	JO and JP working	2023-09-07 07:32:54 +10:00
peteGSX	21ce87eb3e	Descriptions available	2023-09-07 05:33:26 +10:00
Colin Murdoch	ab393047c1	Update MotorDriver.cpp Replace duplicate call to EXRAIL with single in overload.	2023-09-06 11:20:23 +01:00
peteGSX	1f5f7754c1	Start on position description	2023-09-06 15:16:46 +10:00
peteGSX	6adff43f4b	Update add position	2023-09-06 07:59:43 +10:00
Colin Murdoch	1ac104704e	Update TrackManager.cpp Reverse logic in TM::IisPowerOn()	2023-09-05 20:52:18 +01:00
Colin Murdoch	2f8e915b1e	Added AFTEROVERLOAD Added the AFTEROVERLOAD option - as yet untested.	2023-09-05 12:21:09 +01:00
peteGSX	152f9850bb	Working	2023-09-05 19:05:18 +10:00
peteGSX	3094c52bf8	Ready to test	2023-09-05 08:38:37 +10:00
peteGSX	86f4567556	Revisiting logic	2023-09-04 18:46:28 +10:00
peteGSX	dd890e65bf	Add move check	2023-09-04 07:38:26 +10:00
peteGSX	1e48c59cd8	Capture progress	2023-09-03 18:54:56 +10:00
peteGSX	004d10ee58	Fix build errors	2023-09-02 18:45:59 +10:00
peteGSX	e734661d1b	EXRAIL ready for testing	2023-09-02 08:29:49 +10:00
peteGSX	bcb250bacf	Broadcasts working	2023-09-01 18:30:02 +10:00
peteGSX	798241927f	Really fix build errors	2023-09-01 13:28:24 +10:00
peteGSX	df2f09f4d2	Fix build errors	2023-09-01 09:04:48 +10:00
peteGSX	f40d57d8bd	Add DCC type, EXTT broadcast from driver	2023-09-01 08:44:32 +10:00
peteGSX	9fa213e198	Undo callback	2023-08-31 13:51:25 +10:00
Harald Barth	44d8154223	version number update	2023-08-30 23:57:49 +02:00
Harald Barth	01919b33df	Make parser more fool proof	2023-08-30 23:55:39 +02:00
peteGSX	a0c1ad182c	Start on callback	2023-08-30 19:48:30 +10:00
peteGSX	dbf053858b	Undo max params	2023-08-30 13:40:09 +10:00
peteGSX	232ac993ec	Separate add from create	2023-08-30 08:45:11 +10:00
Harald Barth	26ddd27ecf	let user disable <D > command in favour for HAL on the Uno platform	2023-08-29 14:27:38 +02:00
peteGSX	6cad794411	Working with 15 positions	2023-08-29 19:04:45 +10:00
peteGSX	b0d8510127	Working but limited	2023-08-29 13:38:52 +10:00
peteGSX	3bfdd16288	Start on JO	2023-08-28 13:11:37 +10:00
peteGSX	df4a501e8a	Writing to driver	2023-08-28 08:36:09 +10:00
peteGSX	2202cb0c5e	Minor progress	2023-08-27 19:30:56 +10:00
peteGSX	1425da20b5	Correct order	2023-08-26 19:41:17 +10:00
peteGSX	b823a647ac	Some progress	2023-08-26 10:26:01 +10:00
Harald Barth	2c64f10da8	Merge branch 'devel' of https://github.com/DCC-EX/CommandStation-EX into devel	2023-08-25 19:14:25 +02:00
Harald Barth	25426d076d	version number update	2023-08-25 19:14:03 +02:00
Harald Barth	3453da0671	Bugfix: ESP32 30ms off time	2023-08-25 19:12:47 +02:00
Colin Murdoch	fb226311e5	Update myHal.cpp_example.txt Added missing ::create to LiquidCrystal HAL definition	2023-08-24 14:54:33 +01:00
Colin Murdoch	6392c74ead	Update myHal.cpp_example.txt Added missing ::create to LiquidCrystal	2023-08-24 14:53:01 +01:00
Harald Barth	25f8852af6	call devel for 5.1.X version number update	2023-08-24 10:09:38 +02:00
Harald Barth	9842ea8a42	Bugfix: execute 30ms off time before rejoin	2023-08-24 10:07:25 +02:00
peteGSX	fa0aa27d46	Add OPCODE list to DCCEXParser.cpp	2023-08-24 10:07:15 +02:00
peteGSX	57d4655d54	Fix Uno/Nano build errors	2023-08-24 07:22:37 +10:00
peteGSX	ff9c558b61	Not much progress	2023-08-23 19:08:04 +10:00
peteGSX	b277d204f0	Progress!	2023-08-22 19:30:22 +10:00
peteGSX	c4febd1d0f	More parser	2023-08-21 19:33:45 +10:00
peteGSX	98f8022268	Fix device driver, disable objects, start parser	2023-08-21 06:43:06 +10:00
peteGSX	1491da4813	Starting, very broken	2023-08-20 19:26:04 +10:00
kempe63	4b2c0702a4	Update version.h Update version.h for IO_PCA9555 changes	2023-08-18 11:40:34 +01:00
kempe63	e27cceeb74	Update PCA9555.h inconsistencies to IO_MCP23017.h causing IO_PCA9555.h compile error when configure for Mux Updated Class PCA9555 definition reflecting changes in IO_MCP23017.h to support PCA9548 mux. Checked with PCA9555 base board, compiles and run EXRAIL script with output driver	2023-08-18 11:30:37 +01:00
Colin Murdoch	247763ac00	Code Corrections Code corrections	2023-08-12 19:10:35 +01:00
Colin Murdoch	e327e0ae8d	Added ONOVERLOAD Added code changes to create ONOVERLOAD command in EXRAIL	2023-08-12 18:40:48 +01:00
Harald Barth	9f38dae8ba	Check bad AT firmware version	2023-08-11 00:07:02 +02:00
Harald Barth	e0e965f81c	Merge branch 'master' into devel	2023-08-07 19:41:00 +02:00
Harald Barth	f2be3aeac3	Make <!> work in DC mode	2023-08-04 14:45:05 +02:00
Harald Barth	a74d85e895	Rename track mode OFF to NONE	2023-08-02 10:00:43 +02:00
Harald Barth	df2e651217	version, compile warning	2023-08-02 01:12:32 +02:00
Harald Barth	36d139268d	AVR: Pin specific timer register seting for speed and mode when inrush throttling and for DC PWM	2023-08-02 01:05:31 +02:00
Harald Barth	e3ac3a8ddf	Protect Uno user from choosing DC(X)	2023-08-02 01:02:46 +02:00
pmantoine	415e756020	More Nucleo variant defines	2023-07-31 16:51:25 +08:00
kempe63	f754fe2fbf	GPIO PCA9555 / TCA9555 support My 1st commit, be gentle	2023-07-29 20:34:39 +01:00
Harald Barth	399030d8ae	make variable frequency a compile option	2023-07-25 12:51:23 +02:00
Harald Barth	4c7e11ddc1	version	2023-07-25 11:30:08 +02:00
Harald Barth	495bbf66bf	better variable name	2023-07-25 11:23:36 +02:00
Harald Barth	2950ef010a	diag	2023-07-18 01:25:38 +02:00
Harald Barth	c2eb5f23b4	restrict to relevant TRACK_MODE(s)	2023-07-17 09:42:39 +02:00
Harald Barth	94648ead28	versiontag	2023-07-17 02:31:00 +02:00
Harald Barth	ec0499e9da	throttleInrush() (tested on ESP32)	2023-07-17 02:30:11 +02:00
Harald Barth	9b75026eef	change from trackMode[t] to track[t]->{get,set}Mode	2023-07-17 02:26:29 +02:00
Harald Barth	6036ff9b15	ESP32: ledcSetup before ledcAttach	2023-07-17 02:22:35 +02:00
Harald Barth	6476a7aac2	version	2023-07-14 23:11:22 +02:00
Harald Barth	0edf34bfe2	inrush test ESP32 only	2023-07-14 23:10:50 +02:00
Harald Barth	aa1f25fc72	Set WIFI_FORCE_AP default as false	2023-07-09 12:04:40 +02:00
Harald Barth	b44bebc1c6	copyright, version and compile warnings fix	2023-07-08 08:58:00 +02:00
habazut	1a17cdb62f	Merge pull request #340 from nathankellenicki/devel [Feat] Added WIFI_FORCE_AP option to config	2023-07-08 08:46:34 +02:00
Harald Barth	7ce1618a9c	Merge branch 'devel-overload' into devel	2023-07-07 21:52:55 +02:00
Nathan Kellenicki	b3251e89d7	Fixed Arduino	2023-07-02 19:51:29 -07:00
Nathan Kellenicki	ae2bbbf668	Added WIFI_FORCE_AP to force AP mode when specifying SSID/pass	2023-07-02 19:51:29 -07:00
peteGSX	efe96d1d84	Merge pull request #339 from DCC-EX:fix-re-send RotaryEnoder, EX-Turntable fixes	2023-06-30 12:24:30 -07:00
peteGSX	5d17f247de	RotaryEnoder, EX-Turntable fixes	2023-07-01 05:18:45 +10:00
Fred	2eb0f48994	Update .gitignore Updated .gitignore from the devel branch and used "my@.cpp" instead of listing the individual files so we can ignore anything that starts with "my"	2023-06-29 14:24:51 -04:00
Harald Barth	99521f8a3f	Support DCC-EX shield	2023-05-20 17:35:09 +02:00
mstevetodd	fcf05206b4	Merge pull request #333 from mstevetodd/master Fix: turnout state should be 2/4, not T2/T4	2023-04-25 16:06:10 -04:00
stevet	cc3aba1feb	Update WiThrottle.cpp Fix: turnout state should be 2/4, not T2/T4	2023-04-25 16:02:42 -04:00
pmantoine	e51f8e9c0a	STM32 I2C Clock selection for 100/400KHz	2023-04-11 15:48:35 +08:00
Neil McKechnie	4f43a413b5	Update I2CManager_STM32.h Remove debug code (writing to pin D2). Update comments. Restructure.	2023-03-30 18:30:38 +01:00
Neil McKechnie	4f56837d28	Fixes to timeout handling (due to STM32 micros() difference).	2023-03-28 18:07:52 +01:00
Neil McKechnie	cc2846d932	STM32 Native I2C first working version Working for reads and writes, needs more testing and perhaps a polish.	2023-03-27 00:20:59 +01:00
pmantoine	83325ebf78	Initial I2C native driver	2023-03-23 08:44:25 +11:00
Fred	91d36ae909	Update ThrottleAssists.md	2023-03-03 21:59:18 -05:00
Fred	98af5c45ed	Update ThrottleAssists.md	2023-03-03 21:46:07 -05:00
Fred	d3eceb6d6c	Update ThrottleAssists.md	2023-03-03 21:41:22 -05:00
Fred	79eaaa85fa	Update ThrottleAssists.md Fixing formatting	2023-03-03 21:35:13 -05:00
Fred	0f5b8adb6b	Update ThrottleAssists.md	2023-03-03 21:26:46 -05:00
Fred	da8faa808b	Update ThrottleAssists.md	2023-03-03 21:07:58 -05:00
Harald Barth	7311f2ce64	LCN bugfix	2023-02-12 20:38:03 +01:00
Harald Barth	7e4f9eb0e1	jT answer should contain empty string	2023-01-29 11:33:28 +01:00
Harald Barth	1f5eafbcca	Bugfix for issue #299 TurnoutDescription NULL	2023-01-29 11:32:54 +01:00
peteGSX	7e16ec7088	Fix support request issue template	2022-11-05 05:17:03 +10:00
Harald Barth	912646f8ff	Merge branch 'master' of https://github.com/DCC-EX/CommandStation-EX into HEAD	2022-11-04 15:41:05 +01:00
Harald Barth	dd309a3705	Ethernet init order	2022-11-04 15:39:35 +01:00
peteGSX	5376c9f410	Update project workflow for forks	2022-11-04 06:54:49 +10:00
peteGSX	b1d110ecbf	Fix project workflow	2022-11-03 14:06:43 +10:00
Fred	5b7801ca6c	Update version.h	2022-10-28 14:05:35 -04:00
Fred	aca9c9c941	Update release_notes.md	2022-10-28 10:52:12 -04:00
Fred	6f94cd71ab	Update release_notes_v4.1.2.md	2022-10-28 10:50:35 -04:00
Fred	1827a11f83	Update release_notes_v4.1.1.md	2022-10-28 10:49:32 -04:00
Fred	0023ce3356	Create release_notes_v4.1.2.md	2022-10-28 10:48:40 -04:00
Fred	7b9f3ae08d	Update release_notes.md	2022-10-28 10:39:13 -04:00
Fred	5e50731a78	Update version.h Fix version number in notes from 4.2.1 to 4.1.2	2022-10-28 10:28:54 -04:00
Harald Barth	df6c511d1d	Fix for W5100 ethernet shield which does not report as the W5200 or W5500	2022-10-28 13:24:12 +02:00
peteGSX	4bfd4b1a12	Add templates and project workflow (#258 ) * Add templates and project workflow * Fixed template typos	2022-10-26 19:34:13 -04:00
Fred	4a3f3d0f34	Update release_notes_v4.1.1.md	2022-10-23 08:22:00 -04:00
Fred	f0d1909d9f	Update release_notes.md	2022-10-23 08:21:36 -04:00
Fred	daf6799ac1	Update release_notes.md	2022-10-22 18:10:42 -04:00
Kcsmith0708	b7a010f904	Verion.h 4.1.1 (#263 ) Edited & Reformatted verify then ready for release	2022-10-22 18:01:37 -04:00
Kcsmith0708	d1518b8af0	Update Release_notes_v4.1.1.md (#264 ) * Update release_notes_v4.1.1.md Edited </RED > etc., commands and added KILLALL function to EXRAIL list * Update release_notes_v4.1.1.md added <t cab> back in * Update release_notes_v4.1.1.md fixed < t cab> so it would display	2022-10-22 18:00:21 -04:00
Fred	39a85903ce	Update release_notes.md	2022-10-21 20:04:05 -04:00
Fred	d72474cd8f	Update release_notes_v4.1.1.md	2022-10-21 20:03:00 -04:00
Kcsmith0708	941e74beaf	Realese Document Edit & Enhancements (#262 ) * Realese Document Edit & Enhancements Edited Intro and Rearranged EXRAIL Enhancements * Update release_notes_v4.1.1.md edited indents * Update release_notes_v4.1.1.md Fomating	2022-10-21 13:45:54 -04:00
Fred	e618b91900	Update version.h	2022-10-21 11:57:55 -04:00
Fred	dcab5a0e72	Create release_notes_v4.1.1.md	2022-10-20 16:25:10 -04:00
Fred	1901d9547e	Update release_notes.md	2022-10-20 16:23:13 -04:00
Fred	7388d14bab	Update release_notes.md	2022-10-20 16:08:40 -04:00
Harald Barth	2da28ad2db	version	2022-09-18 22:23:18 +02:00
Harald Barth	06bd80438e	new version	2022-09-13 22:46:43 +02:00
Harald Barth	cd15eed005	EX-RAIL bugfix: Could not read long loco addrs	2022-09-13 22:43:31 +02:00
Harald Barth	23d0158804	simplify EthernetInterface::setup, make code shorter and format according to our overall style	2022-09-05 22:19:18 +02:00
habazut	2e9e614ad5	Merge pull request #256 from bcsanches/master Keep Ethernet singleton "alive" until connection is established.	2022-09-05 20:34:11 +02:00
Bruno Crivelari Sanches	64b1de08be	Detects when ethernet cable is connected and is disconnected, also correctly handles EthernetServer tead down on such situations	2022-09-05 14:23:54 -03:00
Bruno Crivelari Sanches	34c3d10767	Keep Ethernet singleton "alive" until connection is established.	2022-09-03 17:16:33 -03:00
Harald Barth	f2eb64fd21	make service start to be outside the DONT_TOUCH_WIFI_CONF area	2022-07-31 23:07:19 +02:00
Harald Barth	a80b16acba	HH not supported	2022-06-21 19:46:59 +02:00
Harald Barth	b1f5e9f48c	Initial version	2022-06-21 15:04:45 +02:00