Merge branch 'devel' into devel_lcc

Fixed

.gitignore

@@ -13,3 +13,5 @@ myFilter.cpp
 my*.h
 !my*.example.h
 compile_commands.json
+newcode.txt.old
+UserAddin.txt

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
@@ -265,6 +269,6 @@ void CommandDistributor::broadcastRaw(clientType type, char * msg) {
   broadcastReply(type, F("%s"),msg);
 }
 
-void CommandDistributor::broadcastTrackState(const FSH* format,byte trackLetter,int16_t dcAddr) {
-  broadcastReply(COMMAND_TYPE, format,trackLetter,dcAddr);
+void CommandDistributor::broadcastTrackState(const FSH* format,byte trackLetter, int16_t dcAddr) {
+  broadcastReply(COMMAND_TYPE, format,trackLetter, dcAddr);
 }

CommandDistributor.h

@@ -49,12 +49,13 @@ 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();
   static void broadcastPower();
   static void broadcastRaw(clientType type,char * msg);
-  static void broadcastTrackState(const FSH* format,byte trackLetter,int16_t dcAddr);
+  static void broadcastTrackState(const FSH* format,byte trackLetter, int16_t dcAddr);
   template<typename... Targs> static void broadcastReply(clientType type, Targs... msg);
   static void forget(byte clientId);
   

DCCEXParser.cpp

@@ -60,8 +60,8 @@ Once a new OPCODE is decided upon, update this list.
   G,
   h,
   H, Turnout state broadcast
-  i, Reserved for future use - Turntable object broadcast
-  I, Reserved for future use - Turntable object command and control
+  i, Server details string
+  I, Turntable object command, control, and broadcast
   j, Throttle responses
   J, Throttle queries
   k, Reserved for future use - Potentially Railcom
@@ -114,6 +114,7 @@ Once a new OPCODE is decided upon, update this list.
 #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. 
@@ -121,7 +122,7 @@ Once a new OPCODE is decided upon, update this list.
     for (int16_t i=0;;i+=sizeof(flashList[0])) {                            \
         int16_t value=GETHIGHFLASHW(flashList,i);       \
         if (value==INT16_MAX) break;                            \
-        if (value != 0) StringFormatter::send(stream,F(" %d"),value);	\
+        StringFormatter::send(stream,F(" %d"),value);	\
     }                                   
 
 
@@ -156,7 +157,10 @@ const int16_t HASH_KEYWORD_VPIN=-415;
 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_H='H';
 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';
@@ -168,6 +172,8 @@ 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;
@@ -547,69 +553,131 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 
     case '1': // POWERON <1   [MAIN|PROG|JOIN]>
         {
-        bool main=false;
-        bool prog=false;
-        bool join=false;
-        if (params > 1) break;
-        if (params==0) { // All
-            main=true;
-            prog=true;
-        }
-	if (params==1) {
-	  if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
-            main=true;
-	  }
+            bool main=false;
+            bool prog=false;
+            bool join=false;
+            bool singletrack=false;
+            //byte t=0;
+            if (params > 1) break;
+            if (params==0) { // All
+                main=true;
+                prog=true;
+            }
+            if (params==1) {
+                if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
+                        main=true;
+            }
 #ifndef DISABLE_PROG
-	  else if (p[0] == HASH_KEYWORD_JOIN) {  // <1 JOIN>
-            main=true;
-            prog=true;
-            join=true;
-	  }
-	  else if (p[0]==HASH_KEYWORD_PROG) { // <1 PROG>
-            prog=true;
-	  }
+            else if (p[0] == HASH_KEYWORD_JOIN) {  // <1 JOIN>
+                main=true;
+                prog=true;
+                join=true;
+            }
+            else if (p[0]==HASH_KEYWORD_PROG) { // <1 PROG>
+                prog=true;
+            }
 #endif
-	  else break; // will reply <X>
-	}
-        TrackManager::setJoin(join);
-        if (main) TrackManager::setMainPower(POWERMODE::ON);
-        if (prog) TrackManager::setProgPower(POWERMODE::ON);
+            //else if (p[0] >= 'A' && p[0] <= 'H') { // <1 A-H>
+            else if (p[0] >= HASH_KEYWORD_A && p[0] <= HASH_KEYWORD_H) { // <1 A-H>
+                byte t = (p[0] - 'A');
+                    //DIAG(F("Processing track - %d "), t);
+                    if (TrackManager::isProg(t)) {
+                        main = false;
+                        prog = true;
+                    }
+                    else
+                    {
+                        main=true;
+                        prog=false;
+                    }
+                singletrack=true;
+                if (main) TrackManager::setTrackPower(false, false, POWERMODE::ON, t);
+                if (prog) TrackManager::setTrackPower(true, false, POWERMODE::ON, t);
+                
+                StringFormatter::send(stream, F("<1 %c>\n"), t+'A');
+                //CommandDistributor::broadcastPower();
+                //TrackManager::streamTrackState(NULL,t);
+                return;
+            }
 
-        CommandDistributor::broadcastPower();
-        return;
+	    else break; // will reply <X>
+	    }
+
+        if (!singletrack) {
+            TrackManager::setJoin(join);
+            if (join) TrackManager::setJoinPower(POWERMODE::ON);
+            else {
+                if (main) TrackManager::setMainPower(POWERMODE::ON);
+                if (prog) TrackManager::setProgPower(POWERMODE::ON);
+            }
+            CommandDistributor::broadcastPower();
+          
+            return;
+            }
+            
         }
 
     case '0': // POWEROFF <0 [MAIN | PROG] >
         {
-        bool main=false;
-        bool prog=false;
-        if (params > 1) break;
-        if (params==0) { // All
-	  main=true;
-	  prog=true;
-        }
-	if (params==1) {
-	  if (p[0]==HASH_KEYWORD_MAIN) { // <0 MAIN>
-	    main=true;
-	  }
+            bool main=false;
+            bool prog=false;
+            bool singletrack=false;
+            //byte t=0;
+            if (params > 1) break;
+            if (params==0) { // All
+                main=true;
+                prog=true;
+            }
+            if (params==1) {
+                if (p[0]==HASH_KEYWORD_MAIN) { // <0 MAIN>
+                    main=true;
+            }
 #ifndef DISABLE_PROG
-	  else if (p[0]==HASH_KEYWORD_PROG) { // <0 PROG>
-	    prog=true;
-	  }
+            else if (p[0]==HASH_KEYWORD_PROG) { // <0 PROG>
+                prog=true;
+            }
 #endif
-	  else break; // will reply <X>
-	}
+            //else if (p[0] >= 'A' && p[0] <= 'H') { // <1 A-H>
+             else if (p[0] >= HASH_KEYWORD_A && p[0] <= HASH_KEYWORD_H) { // <1 A-H>
+                byte t = (p[0] - 'A');
+                //DIAG(F("Processing track - %d "), t);
+                if (TrackManager::isProg(t)) {
+                    main = false;
+                    prog = true;
+                }
+                else
+                {
+                    main=true;
+                    prog=false;
+                }
+                singletrack=true;  
+                TrackManager::setJoin(false);
+                if (main) TrackManager::setTrackPower(false, false, POWERMODE::OFF, t);
+                if (prog) {
+                    TrackManager::progTrackBoosted=false;  // Prog track boost mode will not outlive prog track off
+                    TrackManager::setTrackPower(true, false, POWERMODE::OFF, t);                 
+                }   
+                StringFormatter::send(stream, F("<0 %c>\n"), t+'A');
+                //CommandDistributor::broadcastPower();
+                //TrackManager::streamTrackState(NULL, t);
+                return;
+            }    
 
-        TrackManager::setJoin(false);
-        if (main) TrackManager::setMainPower(POWERMODE::OFF);
-        if (prog) {
-            TrackManager::progTrackBoosted=false;  // Prog track boost mode will not outlive prog track off
-            TrackManager::setProgPower(POWERMODE::OFF);
-        }
+	    else break; // will reply <X>
+	    }
 
-        CommandDistributor::broadcastPower();
-        return;
+        if (!singletrack) {
+            TrackManager::setJoin(false);
+            
+            if (main) TrackManager::setMainPower(POWERMODE::OFF);
+            if (prog) {
+                    TrackManager::progTrackBoosted=false;  // Prog track boost mode will not outlive prog track off
+                    TrackManager::setProgPower(POWERMODE::OFF);
+                }
+            CommandDistributor::broadcastPower();
+            return;
         }
+    }
 
     case '!': // ESTOP ALL  <!>
         DCC::setThrottle(0,1,1); // this broadcasts speed 1(estop) and sets all reminders to speed 1.
@@ -737,11 +805,15 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                     SENDFLASHLIST(stream,RMFT2::rosterIdList)
                 }
                 else {
-		  const FSH * functionNames= RMFT2::getRosterFunctions(id);
-		  StringFormatter::send(stream,F(" %d \"%S\" \"%S\""), 
-					id, RMFT2::getRosterName(id),
-					functionNames == NULL ? RMFT2::getRosterFunctions(0) : functionNames);
-		}
+                    auto rosterName= RMFT2::getRosterName(id);
+                    if (!rosterName) rosterName=F("");
+
+                    auto functionNames= RMFT2::getRosterFunctions(id);
+                    if (!functionNames) functionNames=RMFT2::getRosterFunctions(0);
+                    if (!functionNames) functionNames=F("");
+                    StringFormatter::send(stream,F(" %d \"%S\" \"%S\""), 
+					                            id, rosterName, functionNames);
+                }
 #endif          
                 StringFormatter::send(stream, F(">\n"));      
                 return; 
@@ -770,11 +842,70 @@ 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 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 \"%S\""), id, p, 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
+
     case 'L': // LCC interface implemented in EXRAIL parser
         break; // Will <X> if not intercepted by EXRAIL 
 
@@ -996,7 +1127,7 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
 
     case HASH_KEYWORD_RAM: // <D RAM>
         StringFormatter::send(stream, F("Free memory=%d\n"), DCCTimer::getMinimumFreeMemory());
-        break;
+        return true;
 
 #ifndef DISABLE_PROG
     case HASH_KEYWORD_ACK: // <D ACK ON/OFF> <D ACK [LIMIT|MIN|MAX|RETRY] Value>
@@ -1097,6 +1228,99 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
     return false;
 }
 
+// ==========================
+// Turntable - no support if no HAL
+// <I> - list all
+// <I id> - broadcast type and current position
+// <I id DCC> - create DCC - This is TBA
+// <I id steps> - operate (DCC)
+// <I id steps activity> - operate (EXTT)
+// <I id ADD position value> - add position
+// <I id EXTT i2caddress vpin home> - create EXTT
+#ifndef IO_NO_HAL
+bool DCCEXParser::parseI(Print *stream, int16_t params, int16_t p[])
+{
+    switch (params)
+    {
+    case 0: // <I> list turntable objects
+        return Turntable::printAll(stream);
+
+    case 1: // <I id> broadcast type and current position
+        {    
+            Turntable *tto = Turntable::get(p[0]);
+            if (tto) {
+                bool type = tto->isEXTT();
+                uint8_t position = tto->getPosition();
+                StringFormatter::send(stream, F("<I %d %d>\n"), type, position);
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    case 2: // <I id position> - rotate a DCC turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (tto && !tto->isEXTT()) {
+                if (!tto->setPosition(p[0], p[1])) return false;
+            } else {
+                return false;
+            }
+        }
+        return true;
+
+    case 3: // <I id position activity> | <I id DCC home> - rotate to position for EX-Turntable or create DCC turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_DCC) {
+                if (tto || p[2] < 0 || p[2] > 3600) return false;
+                if (!DCCTurntable::create(p[0])) return false;
+                Turntable *tto = Turntable::get(p[0]);
+                tto->addPosition(0, 0, p[2]);
+                StringFormatter::send(stream, F("<I>\n"));
+            } else {
+                if (!tto) return false;
+                if (!tto->isEXTT()) return false;
+                if (!tto->setPosition(p[0], p[1], p[2])) return false;
+            }
+        }
+        return true;
+    
+    case 4: // <I id EXTT vpin home> create an EXTT turntable
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_EXTT) {
+                if (tto || p[3] < 0 || p[3] > 3600) return false;
+                if (!EXTTTurntable::create(p[0], (VPIN)p[2])) return false;
+                Turntable *tto = Turntable::get(p[0]);
+                tto->addPosition(0, 0, p[3]);
+                StringFormatter::send(stream, F("<I>\n"));
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    case 5: // <I id ADD position value angle> add a position
+        {
+            Turntable *tto = Turntable::get(p[0]);
+            if (p[1] == HASH_KEYWORD_ADD) {
+                // tto must exist, no more than 48 positions, angle 0 - 3600
+                if (!tto || p[2] > 48 || p[4] < 0 || p[4] > 3600) return false;
+                tto->addPosition(p[2], p[3], p[4]);
+                StringFormatter::send(stream, F("<I>\n"));
+            } else {
+                return false;
+            }
+        }
+        return true;
+    
+    default:    // Anything else is invalid
+        return false;
+    }
+}
+#endif
+
 // CALLBACKS must be static
 bool DCCEXParser::stashCallback(Print *stream, int16_t p[MAX_COMMAND_PARAMS], RingStream * ringStream)
 {

DCCEXParser.h

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

DCCTimer.h

@@ -125,8 +125,13 @@ private:
   // On platforms that scan, it is called from waveform ISR
   // only on a regular basis.
   static void scan();
+  #if defined (ARDUINO_ARCH_STM32)
+  // bit array of used pins (max 32)
+  static uint32_t usedpins;
+#else
   // bit array of used pins (max 16)
   static uint16_t usedpins;
+#endif
   static uint8_t highestPin;
   // cached analog values (malloc:ed to actual number of ADC channels)
   static int *analogvals;

DCCTimerSTM32.cpp

@@ -1,6 +1,6 @@
 /*
  *  © 2023 Neil McKechnie
- *  © 2022-23 Paul M. Antoine
+ *  © 2022-2023 Paul M. Antoine
  *  © 2021 Mike S
  *  © 2021, 2023 Harald Barth
  *  © 2021 Fred Decker
@@ -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_F413ZH) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)|| defined(ARDUINO_NUCLEO_F412ZG) 
+#elif defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F413ZH) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE) 
 // 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
@@ -154,13 +154,28 @@ HardwareSerial Serial6(PG9, PG14);  // Rx=PG9, Tx=PG14 -- USART6
 ///////////////////////////////////////////////////////////////////////////////////////////////
 
 INTERRUPT_CALLBACK interruptHandler=0;
-// Let's use STM32's timer #11 until disabused of this notion
-// Timer #11 is used for "servo" library, but as DCC-EX is not using
-// this libary, we should be free and clear.
-HardwareTimer timer(TIM11);
+
+// On STM32F4xx models that have them, Timers 6 and 7 have no PWM output capability,
+// so are good choices for general timer duties - they are used for tone and servo
+// in stm32duino so we shall usurp those as DCC-EX doesn't use tone or servo libs.
+// NB: the F401, F410 and F411 do **not** have Timer 6 or 7, so we use Timer 11
+#ifndef DCC_EX_TIMER
+#if defined(TIM6)
+#define DCC_EX_TIMER TIM6
+#elif defined(TIM7)
+#define DCC_EX_TIMER TIM7
+#elif defined(TIM11)
+#define DCC_EX_TIMER TIM11
+#else
+#warning This STM32F4XX variant does not have Timers 6,7 or 11!!
+#endif
+#endif // ifndef DCC_EX_TIMER
+
+HardwareTimer dcctimer(DCC_EX_TIMER);
+void DCCTimer_Handler() __attribute__((interrupt));
 
 // Timer IRQ handler
-void Timer11_Handler() {
+void DCCTimer_Handler() {
   interruptHandler();
 }
 
@@ -168,22 +183,24 @@ void DCCTimer::begin(INTERRUPT_CALLBACK callback) {
   interruptHandler=callback;
   noInterrupts();
 
-  // adc_set_sample_rate(ADC_SAMPLETIME_480CYCLES);
-  timer.pause();
-  timer.setPrescaleFactor(1);
+  dcctimer.pause();
+  dcctimer.setPrescaleFactor(1);
 //  timer.setOverflow(CLOCK_CYCLES * 2);
-  timer.setOverflow(DCC_SIGNAL_TIME, MICROSEC_FORMAT);
-  timer.attachInterrupt(Timer11_Handler);
-  timer.refresh();
-  timer.resume();
+  dcctimer.setOverflow(DCC_SIGNAL_TIME, MICROSEC_FORMAT);
+  // dcctimer.attachInterrupt(Timer11_Handler);
+  dcctimer.attachInterrupt(DCCTimer_Handler);
+  dcctimer.setInterruptPriority(0, 0); // Set highest preemptive priority!
+  dcctimer.refresh();
+  dcctimer.resume();
 
   interrupts();
 }
 
 bool DCCTimer::isPWMPin(byte pin) {
-  //TODO: SAMD whilst this call to digitalPinHasPWM will reveal which pins can do PWM,
+  //TODO: STM32 whilst this call to digitalPinHasPWM will reveal which pins can do PWM,
   //      there's no support yet for High Accuracy, so for now return false
   //  return digitalPinHasPWM(pin);
+  (void) pin;
   return false;
 }
 
@@ -235,22 +252,91 @@ void DCCTimer::reset() {
     while(true) {};
 }
 
-// TODO: may need to use uint32_t on STMF4xx variants with > 16 analog inputs!
-#if defined(ARDUINO_NUCLEO_F446RE) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
-#warning STM32 board selected not fully supported - only use ADC1 inputs 0-15 for current sensing!
-#endif
-// For now, define the max of 16 ports - some variants have more, but this not **yet** supported
-#define NUM_ADC_INPUTS 16
-// #define NUM_ADC_INPUTS NUM_ANALOG_INPUTS
+// TODO: rationalise the size of these... could really use sparse arrays etc.
+static HardwareTimer * pin_timer[100] = {0};
+static uint32_t channel_frequency[100] = {0};
+static uint32_t pin_channel[100] = {0};
 
-uint16_t ADCee::usedpins = 0;
-uint8_t ADCee::highestPin = 0;
-int * ADCee::analogvals = NULL;
-uint32_t * analogchans = NULL;
-bool adc1configured = false;
+// Using the HardwareTimer library API included in stm32duino core to handle PWM duties
+// TODO: in order to use the HA code above which Neil kindly wrote, we may have to do something more
+// sophisticated about detecting any clash between the timer we'd like to use for PWM and the ones
+// currently used for HA so they don't interfere with one another. For now we'll just make PWM
+// work well... then work backwards to integrate with HA mode if we can.
+void DCCTimer::DCCEXanalogWriteFrequency(uint8_t pin, uint32_t frequency)
+{
+  if (pin_timer[pin] == NULL) {
+    // Automatically retrieve TIM instance and channel associated to pin
+    // This is used to be compatible with all STM32 series automatically.
+    TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(digitalPinToPinName(pin), PinMap_PWM);
+    if (Instance == NULL) {
+      // We shouldn't get here (famous last words) as it ought to have been caught by brakeCanPWM()!
+      DIAG(F("DCCEXanalogWriteFrequency::Pin %d has no PWM function!"), pin);
+      return;
+    }
+    pin_channel[pin] = STM_PIN_CHANNEL(pinmap_function(digitalPinToPinName(pin), PinMap_PWM));
 
-int16_t ADCee::ADCmax() {
-  return 4095;
+    // Instantiate HardwareTimer object. Thanks to 'new' instantiation,
+    // HardwareTimer is not destructed when setup function is finished.
+    pin_timer[pin] = new HardwareTimer(Instance);
+    // Configure and start PWM
+    // MyTim->setPWM(channel, pin, 5, 10, NULL, NULL); // No callback required, we can simplify the function call
+    if (pin_timer[pin] != NULL)
+    {
+      pin_timer[pin]->setPWM(pin_channel[pin], pin, frequency, 0); // set frequency in Hertz, 0% dutycycle
+      DIAG(F("DCCEXanalogWriteFrequency::Pin %d on Timer %d, frequency %d"), pin, pin_channel[pin], frequency);
+    }
+    else
+      DIAG(F("DCCEXanalogWriteFrequency::failed to allocate HardwareTimer instance!"));
+  }
+  else
+  {
+    // Frequency change request
+    if (frequency != channel_frequency[pin])
+    {
+      pinmap_pinout(digitalPinToPinName(pin), PinMap_TIM); // ensure the pin has been configured!
+      pin_timer[pin]->setOverflow(frequency, HERTZ_FORMAT); // Just change the frequency if it's already running!
+      DIAG(F("DCCEXanalogWriteFrequency::setting frequency to %d"), frequency);
+    }
+  }
+  channel_frequency[pin] = frequency;
+  return;
+}
+
+void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value) {
+    // Calculate percentage duty cycle from value given
+    uint32_t duty_cycle = (value * 100 / 256) + 1;
+    if (pin_timer[pin] != NULL) {
+      // if (duty_cycle == 100)
+      // {
+      //   pin_timer[pin]->pauseChannel(pin_channel[pin]);
+      //   DIAG(F("DCCEXanalogWrite::Pausing timer channel on pin %d"), pin);
+      // }
+      // else
+      // {
+        pinmap_pinout(digitalPinToPinName(pin), PinMap_TIM); // ensure the pin has been configured!
+        // pin_timer[pin]->resumeChannel(pin_channel[pin]);
+        pin_timer[pin]->setCaptureCompare(pin_channel[pin], duty_cycle, PERCENT_COMPARE_FORMAT); // DCC_EX_PWM_FREQ Hertz, duty_cycle% dutycycle
+        DIAG(F("DCCEXanalogWrite::Pin %d, value %d, duty cycle %d"), pin, value, duty_cycle);
+      // }
+    }
+    else
+      DIAG(F("DCCEXanalogWrite::Pin %d is not configured for PWM!"), pin);
+}
+
+
+// Now we can handle more ADCs, maybe this works!
+#define NUM_ADC_INPUTS NUM_ANALOG_INPUTS
+
+uint32_t ADCee::usedpins = 0;         // Max of 32 ADC input channels!
+uint8_t ADCee::highestPin = 0;        // Highest pin to scan
+int * ADCee::analogvals = NULL;       // Array of analog values last captured
+uint32_t * analogchans = NULL;        // Array of channel numbers to be scanned
+// bool adc1configured = false;
+ADC_TypeDef * * adcchans = NULL;      // Array to capture which ADC is each input channel on
+
+int16_t ADCee::ADCmax()
+{
+    return 4095;
 }
 
 int ADCee::init(uint8_t pin) {
@@ -261,11 +347,33 @@ int ADCee::init(uint8_t pin) {
     return -1024;   // some silly value as error
 
   uint32_t stmgpio = STM_PORT(stmpin); // converts to the GPIO port (16-bits per port group on STM32)
-  uint32_t adcchan =  STM_PIN_CHANNEL(pinmap_function(stmpin, PinMap_ADC)); // find ADC channel (only valid for ADC1!)
-  GPIO_TypeDef * gpioBase;
+  uint32_t adcchan =  STM_PIN_CHANNEL(pinmap_function(stmpin, PinMap_ADC)); // find ADC input channel
+  ADC_TypeDef *adc = (ADC_TypeDef *)pinmap_find_peripheral(stmpin, PinMap_ADC); // find which ADC this pin is on ADC1/2/3 etc.
+  int adcnum = 1;
+  if (adc == ADC1)
+    DIAG(F("ADCee::init(): found pin %d on ADC1"), pin);
+// Checking for ADC2 and ADC3 being defined helps cater for more variants later
+#if defined(ADC2)
+  else if (adc == ADC2)
+  {
+    DIAG(F("ADCee::init(): found pin %d on ADC2"), pin);
+    adcnum = 2;
+  }
+#endif
+#if defined(ADC3)
+  else if (adc == ADC3)
+  {
+    DIAG(F("ADCee::init(): found pin %d on ADC3"), pin);
+    adcnum = 3;
+  }
+#endif
+  else DIAG(F("ADCee::init(): found pin %d on unknown ADC!"), pin);
 
-  // Port config - find which port we're on and power it up
-  switch(stmgpio) {
+    // Port config - find which port we're on and power it up
+    GPIO_TypeDef *gpioBase;
+
+    switch (stmgpio)
+    {
     case 0x00:
         RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; //Power up PORTA
         gpioBase = GPIOA;
@@ -278,6 +386,20 @@ int ADCee::init(uint8_t pin) {
         RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; //Power up PORTC
         gpioBase = GPIOC;
         break;
+    case 0x03:
+        RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN; //Power up PORTD
+        gpioBase = GPIOD;
+        break;
+    case 0x04:
+        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOEEN; //Power up PORTE
+        gpioBase = GPIOE;
+        break;
+#if defined(GPIOF)
+    case 0x05:
+        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOFEN; //Power up PORTF
+        gpioBase = GPIOF;
+        break;
+#endif
     default:
       return -1023; // some silly value as error
   }
@@ -293,31 +415,33 @@ int ADCee::init(uint8_t pin) {
   if (adcchan > 18)
     return -1022; // silly value as error
   if (adcchan < 10)
-    ADC1->SMPR2 |= (0b111 << (adcchan * 3)); // Channel sampling rate 480 cycles
+    adc->SMPR2 |= (0b111 << (adcchan * 3)); // Channel sampling rate 480 cycles
   else
-    ADC1->SMPR1 |= (0b111 << ((adcchan - 10) * 3)); // Channel sampling rate 480 cycles
+    adc->SMPR1 |= (0b111 << ((adcchan - 10) * 3)); // Channel sampling rate 480 cycles
 
   // Read the inital ADC value for this analog input
-  ADC1->SQR3 = adcchan;           // 1st conversion in regular sequence
-  ADC1->CR2 |= (1 << 30);         // Start 1st conversion SWSTART
-  while(!(ADC1->SR & (1 << 1)));  // Wait until conversion is complete
-  value = ADC1->DR;               // Read value from register
+  adc->SQR3 = adcchan;           // 1st conversion in regular sequence
+  adc->CR2 |= ADC_CR2_SWSTART;   //(1 << 30);                     // Start 1st conversion SWSTART
+  while(!(adc->SR & (1 << 1)));  // Wait until conversion is complete
+  value = adc->DR;               // Read value from register
 
   uint8_t id = pin - PNUM_ANALOG_BASE;
-  if (id > 15) { // today we have not enough bits in the mask to support more
-    return -1021;
-  }
+  // if (id > 15) { // today we have not enough bits in the mask to support more
+  //   return -1021;
+  // }
 
-  if (analogvals == NULL) {  // allocate analogvals and analogchans if this is the first invocation of init.
+  if (analogvals == NULL) {  // allocate analogvals, analogchans and adcchans if this is the first invocation of init
     analogvals = (int *)calloc(NUM_ADC_INPUTS+1, sizeof(int));
     analogchans = (uint32_t *)calloc(NUM_ADC_INPUTS+1, sizeof(uint32_t));
+    adcchans = (ADC_TypeDef **)calloc(NUM_ADC_INPUTS+1, sizeof(ADC_TypeDef));
   }
   analogvals[id] = value;     // Store sampled value
   analogchans[id] = adcchan;  // Keep track of which ADC channel is used for reading this pin
-  usedpins |= (1 << id);      // This pin is now ready
+  adcchans[id] = adc;         // Keep track of which ADC this channel is on
+  usedpins |= (1 << id);                // This pin is now ready
   if (id > highestPin) highestPin = id; // Store our highest pin in use
 
-  DIAG(F("ADCee::init(): value=%d, channel=%d, id=%d"), value, adcchan, id);
+  DIAG(F("ADCee::init(): value=%d, ADC%d: channel=%d, id=%d"), value, adcnum, adcchan, id);
 
   return value;
 }
@@ -344,13 +468,16 @@ void ADCee::scan() {
   static uint8_t id = 0;     // id and mask are the same thing but it is faster to
   static uint16_t mask = 1;  // increment and shift instead to calculate mask from id
   static bool waiting = false;
+  static ADC_TypeDef *adc;
 
-  if (waiting) {
+  adc = adcchans[id];
+  if (waiting)
+  {
     // look if we have a result
-    if (!(ADC1->SR & (1 << 1)))
+    if (!(adc->SR & (1 << 1)))
       return; // no result, continue to wait
     // found value
-    analogvals[id] = ADC1->DR;
+    analogvals[id] = adc->DR;
     // advance at least one track
 #ifdef DEBUG_ADC
     if (id == 1) TrackManager::track[1]->setBrake(0);
@@ -369,9 +496,10 @@ void ADCee::scan() {
     // look for a valid track to sample or until we are around
     while (true) {
       if (mask  & usedpins) {
-	// start new ADC aquire on id
-        ADC1->SQR3 = analogchans[id]; //1st conversion in regular sequence
-        ADC1->CR2 |= (1 << 30); //Start 1st conversion SWSTART
+        // start new ADC aquire on id
+        adc = adcchans[id];
+        adc->SQR3 = analogchans[id]; // 1st conversion in regular sequence
+        adc->CR2 |= (1 << 30);       // Start 1st conversion SWSTART
 #ifdef DEBUG_ADC
 	if (id == 1) TrackManager::track[1]->setBrake(1);
 #endif
@@ -392,19 +520,83 @@ void ADCee::scan() {
 void ADCee::begin() {
   noInterrupts();
   //ADC1 config sequence
-  // TODO: currently defaults to ADC1, may need more to handle other members of STM32F4xx family
-  RCC->APB2ENR |= (1 << 8); //Enable ADC1 clock (Bit8) 
+  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // Enable ADC1 clock
   // Set ADC prescaler - DIV8 ~ 40ms, DIV6 ~ 30ms, DIV4 ~ 20ms, DIV2 ~ 11ms
   ADC->CCR = (0 << 16); // Set prescaler 0=DIV2, 1=DIV4, 2=DIV6, 3=DIV8
   ADC1->CR1 &= ~(1 << 8); //SCAN mode disabled (Bit8)
   ADC1->CR1 &= ~(3 << 24); //12bit resolution (Bit24,25 0b00)
   ADC1->SQR1 = (1 << 20); //Set number of conversions projected (L[3:0] 0b0001) -> 1 conversion
+  // Disable the DMA controller for ADC1
+  ADC1->CR2 &= ~ADC_CR2_DMA;
   ADC1->CR2 &= ~(1 << 1); //Single conversion
   ADC1->CR2 &= ~(1 << 11); //Right alignment of data bits bit12....bit0
   ADC1->SQR1 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
   ADC1->SQR2 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
   ADC1->SQR3 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
   ADC1->CR2 |= (1 << 0); // Switch on ADC1
+  // Wait for ADC1 to become ready (calibration complete)
+  while (!(ADC1->CR2 & ADC_CR2_ADON)) {
+  }
+#if defined(ADC2)
+  // Enable the ADC2 clock
+  RCC->APB2ENR |= RCC_APB2ENR_ADC2EN;
+
+  // Initialize ADC2
+  ADC2->CR1 = 0; // Disable all channels
+  ADC2->CR2 = 0; // Clear CR2 register
+
+  ADC2->CR1 &= ~(1 << 8); //SCAN mode disabled (Bit8)
+  ADC2->CR1 &= ~(3 << 24); //12bit resolution (Bit24,25 0b00)
+  ADC2->SQR1 = (1 << 20); //Set number of conversions projected (L[3:0] 0b0001) -> 1 conversion
+  ADC2->CR2 &= ~ADC_CR2_DMA;   // Disable the DMA controller for ADC3
+  ADC2->CR2 &= ~(1 << 1); //Single conversion
+  ADC2->CR2 &= ~(1 << 11); //Right alignment of data bits bit12....bit0
+  ADC2->SQR1 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
+  ADC2->SQR2 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
+  ADC2->SQR3 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
+
+  // Enable the ADC
+  ADC2->CR2 |= ADC_CR2_ADON;
+
+  // Wait for ADC2 to become ready (calibration complete)
+  while (!(ADC2->CR2 & ADC_CR2_ADON)) {
+  }
+
+  // Perform ADC3 calibration (optional)
+  // ADC3->CR2 |= ADC_CR2_CAL;
+  // while (ADC3->CR2 & ADC_CR2_CAL) {
+  // }
+#endif
+#if defined(ADC3)
+  // Enable the ADC3 clock
+  RCC->APB2ENR |= RCC_APB2ENR_ADC3EN;
+
+  // Initialize ADC3
+  ADC3->CR1 = 0; // Disable all channels
+  ADC3->CR2 = 0; // Clear CR2 register
+
+  ADC3->CR1 &= ~(1 << 8); //SCAN mode disabled (Bit8)
+  ADC3->CR1 &= ~(3 << 24); //12bit resolution (Bit24,25 0b00)
+  ADC3->SQR1 = (1 << 20); //Set number of conversions projected (L[3:0] 0b0001) -> 1 conversion
+  ADC3->CR2 &= ~ADC_CR2_DMA;   // Disable the DMA controller for ADC3
+  ADC3->CR2 &= ~(1 << 1); //Single conversion
+  ADC3->CR2 &= ~(1 << 11); //Right alignment of data bits bit12....bit0
+  ADC3->SQR1 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
+  ADC3->SQR2 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
+  ADC3->SQR3 &= ~(0x3FFFFFFF); //Clear whole 1st 30bits in register
+
+  // Enable the ADC
+  ADC3->CR2 |= ADC_CR2_ADON;
+
+  // Wait for ADC3 to become ready (calibration complete)
+  while (!(ADC3->CR2 & ADC_CR2_ADON)) {
+  }
+
+  // Perform ADC3 calibration (optional)
+  // ADC3->CR2 |= ADC_CR2_CAL;
+  // while (ADC3->CR2 & ADC_CR2_CAL) {
+  // }
+#endif
   interrupts();
 }
 #endif

EXRAIL2.cpp

@@ -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;    
@@ -97,6 +99,9 @@ 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)
@@ -176,6 +181,9 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
   onDeactivateLookup=LookListLoader(OPCODE_ONDEACTIVATE);
   onChangeLookup=LookListLoader(OPCODE_ONCHANGE);
   onClockLookup=LookListLoader(OPCODE_ONTIME);
+#ifndef IO_NO_HAL
+  onRotateLookup=LookListLoader(OPCODE_ONROTATE);
+#endif
   onOverloadLookup=LookListLoader(OPCODE_ONOVERLOAD);
   // onLCCLookup is not the same so not loaded here. 
 
@@ -247,7 +255,38 @@ 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 
@@ -272,6 +311,12 @@ 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);
@@ -664,6 +709,14 @@ 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);
@@ -790,6 +843,20 @@ void RMFT2::loop2() {
     TrackManager::setJoin(false);
     CommandDistributor::broadcastPower();
     break;
+  
+  case OPCODE_SET_POWER:
+      // operand is TRACK_POWER , trackid
+        //byte thistrack=getOperand(1);
+        switch (operand) {
+          case TRACK_POWER_0:
+            TrackManager::setTrackPower(TrackManager::isProg(getOperand(1)), false, POWERMODE::OFF, getOperand(1));
+          break;
+          case TRACK_POWER_1:
+            TrackManager::setTrackPower(TrackManager::isProg(getOperand(1)), false, POWERMODE::ON, getOperand(1));
+          break;
+        }
+
+    break;
 
   case OPCODE_SET_TRACK:
       // operand is trackmode<<8 | track id
@@ -863,7 +930,13 @@ 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;
     
@@ -1050,7 +1123,16 @@ 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;
@@ -1076,6 +1158,12 @@ 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;
@@ -1199,7 +1287,7 @@ int16_t RMFT2::getSignalSlot(int16_t id) {
 }
 
 /* static */ bool RMFT2::isSignal(int16_t id,char rag) {
-  if (!(compileFeatures & FEATURE_LCC)) return false; 
+  if (!(compileFeatures & FEATURE_SIGNAL)) return false; 
   int16_t sigslot=getSignalSlot(id);
   if (sigslot<0) return false; 
   return (flags[sigslot] & SIGNAL_MASK) == rag;
@@ -1223,6 +1311,13 @@ 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)

EXRAIL2.h

@@ -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.
@@ -58,11 +59,13 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_ROSTER,OPCODE_KILLALL,
              OPCODE_ROUTE,OPCODE_AUTOMATION,OPCODE_SEQUENCE,
              OPCODE_ENDTASK,OPCODE_ENDEXRAIL,
-             OPCODE_SET_TRACK,
+             OPCODE_SET_TRACK,OPCODE_SET_POWER,
              OPCODE_ONRED,OPCODE_ONAMBER,OPCODE_ONGREEN,
              OPCODE_ONCHANGE,
              OPCODE_ONCLOCKTIME,
              OPCODE_ONTIME,
+             OPCODE_TTADDPOSITION,OPCODE_DCCTURNTABLE,OPCODE_EXTTTURNTABLE,
+             OPCODE_ONROTATE,OPCODE_ROTATE,OPCODE_WAITFORTT,
              OPCODE_LCC,OPCODE_LCCX,OPCODE_ONLCC,
              OPCODE_ONOVERLOAD,
 
@@ -77,7 +80,8 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_IFRANDOM,OPCODE_IFRESERVE,
              OPCODE_IFCLOSED,OPCODE_IFTHROWN,
              OPCODE_IFRE,
-             OPCODE_IFLOCO
+             OPCODE_IFLOCO,
+             OPCODE_IFTTPOSITION
              };
 
 // Ensure thrunge_lcd is put last as there may be more than one display, 
@@ -91,9 +95,10 @@ enum thrunger: byte {
   thrunge_lcd,  // Must be last!!
   };
 
-  // Flag bits for compile time feature
+  // Flag bits for compile time features.
   static const byte FEATURE_SIGNAL= 0x80;
   static const byte FEATURE_LCC   = 0x40;
+  static const byte FEATURE_ROSTER= 0x20;
   
  
   // Flag bits for status of hardware and TPL
@@ -136,6 +141,7 @@ 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;
@@ -151,6 +157,8 @@ 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[]);
@@ -163,6 +171,9 @@ 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);
@@ -197,6 +208,9 @@ private:
    static LookList * onGreenLookup;
    static LookList * onChangeLookup;
    static LookList * onClockLookup;
+#ifndef IO_NO_HAL
+   static LookList * onRotateLookup;
+#endif
    static LookList * onOverloadLookup;
    
    static const int countLCCLookup;

EXRAIL2MacroReset.h

@@ -41,6 +41,7 @@
 #undef CALL 
 #undef CLOSE 
 #undef DCC_SIGNAL
+#undef DCC_TURNTABLE
 #undef DEACTIVATE
 #undef DEACTIVATEL
 #undef DELAY
@@ -52,8 +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 
@@ -76,6 +78,7 @@
 #undef IFRESERVE
 #undef IFTHROWN
 #undef IFTIMEOUT
+#undef IFTTPOSITION
 #undef IFRE
 #undef INVERT_DIRECTION 
 #undef JOIN 
@@ -100,6 +103,7 @@
 #undef ONOVERLOAD
 #undef ONGREEN
 #undef ONRED
+#undef ONROTATE
 #undef ONTHROW 
 #undef ONCHANGE
 #undef PARSE
@@ -118,7 +122,9 @@
 #undef RESUME 
 #undef RETURN 
 #undef REV
-#undef ROSTER 
+#undef ROSTER
+#undef ROTATE
+#undef ROTATE_DCC
 #undef ROUTE
 #undef SENDLOCO 
 #undef SEQUENCE 
@@ -135,13 +141,15 @@
 #undef SERVO_SIGNAL
 #undef SET
 #undef SET_TRACK
+#undef SET_POWER
 #undef SETLOCO 
 #undef SIGNAL 
 #undef SIGNALH 
 #undef SPEED 
 #undef START 
 #undef STOP 
-#undef THROW  
+#undef THROW
+#undef TT_ADDPOSITION
 #undef TURNOUT 
 #undef TURNOUTL
 #undef UNJOIN
@@ -149,6 +157,9 @@
 #undef VIRTUAL_SIGNAL
 #undef VIRTUAL_TURNOUT
 #undef WAITFOR
+#ifndef IO_NO_HAL
+#undef WAITFORTT
+#endif
 #undef WITHROTTLE
 #undef XFOFF
 #undef XFON
@@ -171,6 +182,7 @@
 #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)
@@ -183,7 +195,8 @@
 #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) 
@@ -206,6 +219,7 @@
 #define IFTHROWN(turnout_id) 
 #define IFRESERVE(block)
 #define IFTIMEOUT
+#define IFTTPOSITION(turntable_id,position)
 #define IFRE(sensor_id,value)
 #define INVERT_DIRECTION 
 #define JOIN 
@@ -229,7 +243,8 @@
 #define ONCLOSE(turnout_id)
 #define ONLCC(sender,event)
 #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
@@ -248,8 +263,10 @@
 #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) 
@@ -265,13 +282,15 @@
 #define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) 
 #define SET(pin) 
 #define SET_TRACK(track,mode)
+#define SET_POWER(track,onoff)
 #define SETLOCO(loco) 
 #define SIGNAL(redpin,amberpin,greenpin) 
 #define SIGNALH(redpin,amberpin,greenpin) 
 #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 
@@ -279,6 +298,9 @@
 #define VIRTUAL_SIGNAL(id) 
 #define VIRTUAL_TURNOUT(id,description...) 
 #define WAITFOR(pin)
+#ifndef IO_NO_HAL
+#define WAITFORTT(turntable_id)
+#endif
 #define WITHROTTLE(msg)
 #define XFOFF(cab,func)
 #define XFON(cab,func)

EXRAILMacros.h

@@ -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"
 
@@ -61,16 +63,24 @@
 // (10#mins)%100)
 #define STRIP_ZERO(value) 10##value%100
 
+// These constants help EXRAIL macros convert Track Power e.g. SET_POWER(A ON|OFF).
+//const byte TRACK_POWER_0=0, TRACK_POWER_OFF=0;    
+//const byte TRACK_POWER_1=1, TRACK_POWER_ON=1;   
+
+
 // Pass 1 Implements aliases 
 #include "EXRAIL2MacroReset.h"
 #undef ALIAS
 #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"
 }
@@ -211,6 +221,31 @@ 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
@@ -303,6 +338,9 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #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)),
@@ -316,7 +354,10 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #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),
@@ -339,6 +380,9 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #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,
@@ -369,6 +413,9 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #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,
@@ -388,6 +435,10 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #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), 
@@ -404,13 +455,17 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define SERVO_TURNOUT(id,pin,activeAngle,inactiveAngle,profile,description...) OPCODE_SERVOTURNOUT,V(id),OPCODE_PAD,V(pin),OPCODE_PAD,V(activeAngle),OPCODE_PAD,V(inactiveAngle),OPCODE_PAD,V(PCA9685::ProfileType::profile),
 #define SET(pin) OPCODE_SET,V(pin),
 #define SET_TRACK(track,mode)  OPCODE_SET_TRACK,V(TRACK_MODE_##mode  <<8 | TRACK_NUMBER_##track),
+#define SET_POWER(track,onoff) OPCODE_SET_POWER,V(TRACK_POWER_##onoff),OPCODE_PAD, V(TRACK_NUMBER_##track),
 #define SETLOCO(loco) OPCODE_SETLOCO,V(loco),
 #define SIGNAL(redpin,amberpin,greenpin) 
 #define SIGNALH(redpin,amberpin,greenpin) 
 #define SPEED(speed) OPCODE_SPEED,V(speed),
-#define START(route) OPCODE_START,V(route),
+#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,
@@ -419,6 +474,9 @@ int RMFT2::onLCCLookup[RMFT2::countLCCLookup];
 #define VIRTUAL_TURNOUT(id,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(0), 
 #define WITHROTTLE(msg) PRINT(msg)
 #define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
+#ifndef IO_NO_HAL
+#define WAITFORTT(turntable_id) OPCODE_WAITFORTT,V(turntable_id),
+#endif
 #define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),
 #define XFON(cab,func) OPCODE_XFON,V(cab),OPCODE_PAD,V(func),
 

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "devel-202308302157Z"
+#define GITHUB_SHA "devel-202309241855Z"

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)

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();

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;

I2CManager_STM32.h

@@ -26,27 +26,44 @@
 #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_F401RE) || defined(ARDUINO_NUCLEO_F411RE) || defined(ARDUINO_NUCLEO_F446RE) \
+    || defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F413ZH) \
+    || 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-144 variants
+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 +97,66 @@ 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
+  s->CR1 |= I2C_CR1_SWRST;  // reset the I2C
+  asm("nop");    // wait a bit... suggestion from online!
+  s->CR1 &= ~(I2C_CR1_SWRST); // Normal operation
+
+  if (i2cClockSpeed > 100000UL)
   {
-    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;
+    // i2cClockSpeed = 100000L;
+    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 - max allowed tRISE is 1000ns,
+  // so value = 1000ns * I2C_PERIPH_CLK MHz / 1000 + 1.
+  s->TRISE = (t_rise * i2c_MHz / 1000) + 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;
+  // Bit 14: Duty, fast mode duty cycle (use 2:1)
+  // Bit 11-0: FREQR
+  // if (i2cClockSpeed > 400000UL) {
+  //   // In fast mode plus, I2C period is 3 * CCR * TPCLK1.
+  //   // s->CCR &= ~(0x3000); // Clear all bits except 12 and 13 which must remain per reset value
+  //   s->CCR = APB1clk1 / 3 / i2cClockSpeed; // Set I2C clockspeed to start!
+  //   s->CCR |= 0xC000; // We need Fast Mode AND DUTY bits set
+  // } else {
+    // In standard and fast mode, I2C period is 2 * CCR * TPCLK1
+    s->CCR &= ~(0x3000); // Clear all bits except 12 and 13 which must remain per reset value
+    s->CCR |= (APB1clk1 / 2 / i2cClockSpeed); // Set I2C clockspeed to start!
+    // s->CCR |= (i2c_MHz * 500 / (i2cClockSpeed / 1000)); // Set I2C clockspeed to start!
+    // if (i2cClockSpeed > 100000UL)
+    //     s->CCR |= 0xC000; // We need Fast Mode bits set as well
+  // }
 
-  // Configure the rise time register
-  s->TRISE = t_rise;  // 1000 ns / 62.5 ns = 16 + 1
+  // DIAG(F("I2C_init() peripheral clock is now: %d, full reg is %x"), (s->CR2 & 0xFF), s->CR2);
+  // DIAG(F("I2C_init() peripheral CCR is now: %d"), s->CCR);
+  // DIAG(F("I2C_init() peripheral TRISE is now: %d"), s->TRISE);
 
   // Enable the I2C master mode
   s->CR1 |= I2C_CR1_PE;  // Enable I2C
@@ -136,32 +167,54 @@ 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;
+  // DIAG(F("I2C_init() peripheral clock speed is: %d"), i2c_MHz);
+  // 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
+  I2C1->CR1 &= ~I2C_CR1_PE; // Disable I2C1 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;
+  // DIAG(F("I2C_init() peripheral clock is now: %d"), s->CR2);
+
+  // 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 +225,28 @@ 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
 
+  // DIAG(F("I2C_init() setting initial I2C clock to 100KHz"));
   // 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); // Set a default of 100KHz I2C clockspeed to start!
 
-  // 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 = (1000 * i2c_MHz / 1000) + 1;
+
+  // DIAG(F("I2C_init() peripheral clock is now: %d, full reg is %x"), (s->CR2 & 0xFF), s->CR2);
+  // DIAG(F("I2C_init() peripheral CCR is now: %d"), s->CCR);
+  // DIAG(F("I2C_init() peripheral TRISE is now: %d"), s->TRISE);
 
   // Enable the I2C master mode
   s->CR1 |= I2C_CR1_PE;  // Enable I2C
-  // Setting bus idle mode and wait for sync
 }
 
 /***************************************************************************
@@ -198,49 +256,30 @@ 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 +291,11 @@ 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 +304,217 @@ 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 */

IODevice.cpp

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

IODevice.h

@@ -27,17 +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.
-#include "defines.h"
-#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
-
 // 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 
@@ -165,6 +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 
@@ -388,6 +380,7 @@ private:
   uint8_t *_pinInUse; 
 };
 
+#ifndef IO_NO_HAL
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 /*
  * IODevice subclass for EX-Turntable.
@@ -416,10 +409,14 @@ private:
   void _begin() override;
   void _loop(unsigned long currentMicros) override;
   int _read(VPIN vpin) override;
+  void _broadcastStatus (VPIN vpin, uint8_t status, uint8_t activity);
   void _writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_t duration) override;
   void _display() override;
   uint8_t _stepperStatus;
+  uint8_t _previousStatus;
+  uint8_t _currentActivity;
 };
+#endif
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 

IO_EXTurntable.cpp

@@ -20,20 +20,21 @@
 /*
 * The IO_EXTurntable device driver is used to control a turntable via an Arduino with a stepper motor over I2C.
 *
-* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/Turntable-EX) and contains the stepper motor logic.
+* The EX-Turntable code lives in a separate repo (https://github.com/DCC-EX/EX-Turntable) and contains the stepper motor logic.
 *
-* This device driver sends a step position to Turntable-EX to indicate the step position to move to using either of these commands:
+* This device driver sends a step position to EX-Turntable to indicate the step position to move to using either of these commands:
 * <D TT vpin steps activity> in the serial console
 * MOVETT(vpin, steps, activity) in EX-RAIL
 * Refer to the documentation for further information including the valid activities.
 */
 
-#ifndef IO_EXTurntable_h
-#define IO_EXTurntable_h
-
 #include "IODevice.h"
 #include "I2CManager.h"
 #include "DIAG.h"
+#include "Turntables.h"
+#include "CommandDistributor.h"
+
+#ifndef IO_NO_HAL
 
 void EXTurntable::create(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
   new EXTurntable(firstVpin, nPins, I2CAddress);
@@ -44,6 +45,8 @@ EXTurntable::EXTurntable(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
   _firstVpin = firstVpin;
   _nPins = nPins;
   _I2CAddress = I2CAddress;
+  _stepperStatus = 0;
+  _previousStatus = 0;
   addDevice(this);
 }
 
@@ -51,6 +54,7 @@ EXTurntable::EXTurntable(VPIN firstVpin, int nPins, I2CAddress I2CAddress) {
 void EXTurntable::_begin() {
   I2CManager.begin();
   if (I2CManager.exists(_I2CAddress)) {
+    DIAG(F("EX-Turntable device found, I2C:%s"), _I2CAddress.toString());
 #ifdef DIAG_IO
     _display();
 #endif
@@ -67,15 +71,19 @@ 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
+    if ( _currentActivity < 4) {
+      _broadcastStatus(_firstVpin, _stepperStatus, _currentActivity);
+    }
+    _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 +91,17 @@ 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, uint8_t activity) {
+  Turntable *tto = Turntable::getByVpin(vpin);
+  if (tto) {
+    if (activity < 4) {
+      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 +119,7 @@ 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
@@ -108,7 +128,10 @@ void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_
   DIAG(F("I2CManager write I2C Address:%d stepsMSB:%d stepsLSB:%d activity:%d"),
     _I2CAddress.toString(), stepsMSB, stepsLSB, activity);
 #endif
-  _stepperStatus = 1;     // Tell the device driver Turntable-EX is busy
+  if (activity < 4) _stepperStatus = 1;     // Tell the device driver Turntable-EX is busy
+  _previousStatus = _stepperStatus;
+  _currentActivity = activity;
+  _broadcastStatus(vpin, _stepperStatus, activity); // Broadcast when the rotation starts
   I2CManager.write(_I2CAddress, 3, stepsMSB, stepsLSB, activity);
 }
 

IO_PCA9555.h

@@ -33,17 +33,16 @@ 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);
   }
-  
+
+private:  
   // Constructor
-  PCA9555(VPIN vpin, int nPins, uint8_t I2CAddress, int interruptPin=-1) 
+  PCA9555(VPIN vpin, uint8_t nPins, I2CAddress 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);
   }

MotorDriver.cpp

@@ -34,6 +34,11 @@ unsigned long MotorDriver::globalOverloadStart = 0;
 volatile portreg_t shadowPORTA;
 volatile portreg_t shadowPORTB;
 volatile portreg_t shadowPORTC;
+#if defined(ARDUINO_ARCH_STM32)
+volatile portreg_t shadowPORTD;
+volatile portreg_t shadowPORTE;
+volatile portreg_t shadowPORTF;
+#endif
 
 MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
                          byte current_pin, float sense_factor, unsigned int trip_milliamps, int16_t fault_pin) {
@@ -68,6 +73,21 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
     fastSignalPin.shadowinout = fastSignalPin.inout;
     fastSignalPin.inout = &shadowPORTC;
   }
+  if (HAVE_PORTD(fastSignalPin.inout == &PORTD)) {
+    DIAG(F("Found PORTD pin %d"),signalPin);
+    fastSignalPin.shadowinout = fastSignalPin.inout;
+    fastSignalPin.inout = &shadowPORTD;
+  }
+  if (HAVE_PORTE(fastSignalPin.inout == &PORTE)) {
+    DIAG(F("Found PORTE pin %d"),signalPin);
+    fastSignalPin.shadowinout = fastSignalPin.inout;
+    fastSignalPin.inout = &shadowPORTE;
+  }
+  if (HAVE_PORTF(fastSignalPin.inout == &PORTF)) {
+    DIAG(F("Found PORTF pin %d"),signalPin);
+    fastSignalPin.shadowinout = fastSignalPin.inout;
+    fastSignalPin.inout = &shadowPORTF;
+  }
 
   signalPin2=signal_pin2;
   if (signalPin2!=UNUSED_PIN) {
@@ -91,6 +111,21 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
       fastSignalPin2.shadowinout = fastSignalPin2.inout;
       fastSignalPin2.inout = &shadowPORTC;
     }
+    if (HAVE_PORTD(fastSignalPin2.inout == &PORTD)) {
+      DIAG(F("Found PORTD pin %d"),signalPin2);
+      fastSignalPin2.shadowinout = fastSignalPin2.inout;
+      fastSignalPin2.inout = &shadowPORTD;
+    }
+    if (HAVE_PORTE(fastSignalPin2.inout == &PORTE)) {
+      DIAG(F("Found PORTE pin %d"),signalPin2);
+      fastSignalPin2.shadowinout = fastSignalPin2.inout;
+      fastSignalPin2.inout = &shadowPORTE;
+    }
+    if (HAVE_PORTF(fastSignalPin2.inout == &PORTF)) {
+      DIAG(F("Found PORTF pin %d"),signalPin2);
+      fastSignalPin2.shadowinout = fastSignalPin2.inout;
+      fastSignalPin2.inout = &shadowPORTF;
+    }
   }
   else dualSignal=false; 
   
@@ -279,7 +314,7 @@ void MotorDriver::startCurrentFromHW() {
 #pragma GCC pop_options
 #endif //ANALOG_READ_INTERRUPT
 
-#if defined(ARDUINO_ARCH_ESP32)
+#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
 #ifdef VARIABLE_TONES
 uint16_t taurustones[28] = { 165, 175, 196, 220,
 			     247, 262, 294, 330,
@@ -330,7 +365,7 @@ void MotorDriver::setDCSignal(byte speedcode) {
   byte tSpeed=speedcode & 0x7F; // DCC Speed with 0,1 stop and speed steps 2 to 127
   byte tDir=speedcode & 0x80;
   byte brake;
-#if defined(ARDUINO_ARCH_ESP32)
+#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
   {
     int f = 131;
 #ifdef VARIABLE_TONES
@@ -348,7 +383,7 @@ void MotorDriver::setDCSignal(byte speedcode) {
   else  brake = 2 * (128-tSpeed);
   if (invertBrake)
     brake=255-brake;
-#if defined(ARDUINO_ARCH_ESP32)
+#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_STM32)
   DCCTimer::DCCEXanalogWrite(brakePin,brake);
 #else
   analogWrite(brakePin,brake);
@@ -372,6 +407,24 @@ void MotorDriver::setDCSignal(byte speedcode) {
     setSignal(tDir);
     HAVE_PORTC(PORTC=shadowPORTC);
     interrupts();
+  } else if (HAVE_PORTD(fastSignalPin.shadowinout == &PORTD)) {
+    noInterrupts();
+    HAVE_PORTD(shadowPORTD=PORTD);
+    setSignal(tDir);
+    HAVE_PORTD(PORTD=shadowPORTD);
+    interrupts();
+  } else if (HAVE_PORTE(fastSignalPin.shadowinout == &PORTE)) {
+    noInterrupts();
+    HAVE_PORTE(shadowPORTE=PORTE);
+    setSignal(tDir);
+    HAVE_PORTE(PORTE=shadowPORTE);
+    interrupts();
+  } else if (HAVE_PORTF(fastSignalPin.shadowinout == &PORTF)) {
+    noInterrupts();
+    HAVE_PORTF(shadowPORTF=PORTF);
+    setSignal(tDir);
+    HAVE_PORTF(PORTF=shadowPORTF);
+    interrupts();
   } else {
     noInterrupts();
     setSignal(tDir);
@@ -393,6 +446,13 @@ void MotorDriver::throttleInrush(bool on) {
   } else {
     ledcDetachPin(brakePin);
   }
+#elif defined(ARDUINO_ARCH_STM32)
+  if(on) {
+    DCCTimer::DCCEXanalogWriteFrequency(brakePin, 62500);
+    DCCTimer::DCCEXanalogWrite(brakePin,duty);
+  } else {
+    pinMode(brakePin, OUTPUT);
+  }
 #else
   if(on){
     switch(brakePin) {

MotorDriver.h

@@ -1,5 +1,5 @@
 /*
- *  © 2022 Paul M Antoine
+ *  © 2022-2023 Paul M. Antoine
  *  © 2021 Mike S
  *  © 2021 Fred Decker
  *  © 2020 Chris Harlow
@@ -60,6 +60,16 @@ enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PRO
 #define HAVE_PORTB(X) X
 #define PORTC GPIOC->ODR
 #define HAVE_PORTC(X) X
+#define PORTD GPIOD->ODR
+#define HAVE_PORTD(X) X
+#if defined(GPIOE)
+#define PORTE GPIOE->ODR
+#define HAVE_PORTE(X) X
+#endif
+#if defined(GPIOF)
+#define PORTF GPIOF->ODR
+#define HAVE_PORTF(X) X
+#endif
 #endif
 
 // if macros not defined as pass-through we define
@@ -74,6 +84,15 @@ enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PRO
 #ifndef HAVE_PORTC
 #define HAVE_PORTC(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
 #endif
+#ifndef HAVE_PORTD
+#define HAVE_PORTD(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
+#endif
+#ifndef HAVE_PORTE
+#define HAVE_PORTE(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
+#endif
+#ifndef HAVE_PORTF
+#define HAVE_PORTF(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
+#endif
 
 // Virtualised Motor shield 1-track hardware Interface
 
@@ -110,6 +129,9 @@ struct FASTPIN {
 extern volatile portreg_t shadowPORTA;
 extern volatile portreg_t shadowPORTB;
 extern volatile portreg_t shadowPORTC;
+extern volatile portreg_t shadowPORTD;
+extern volatile portreg_t shadowPORTE;
+extern volatile portreg_t shadowPORTF;
 
 enum class POWERMODE : byte { OFF, ON, OVERLOAD, ALERT };
 
@@ -163,16 +185,16 @@ class MotorDriver {
     unsigned int raw2mA( int raw);
     unsigned int mA2raw( unsigned int mA);
     inline bool brakeCanPWM() {
-#if defined(ARDUINO_ARCH_ESP32) || defined(__arm__)
-      // TODO: on ARM we can use digitalPinHasPWM, and may wish/need to
-      return true;
-#else
-#ifdef digitalPinToTimer
+#if defined(ARDUINO_ARCH_ESP32)
+      return (brakePin != UNUSED_PIN); // This was just (true) but we probably do need to check for UNUSED_PIN!
+#elif defined(__arm__)
+      // On ARM we can use digitalPinHasPWM
+      return ((brakePin!=UNUSED_PIN) && (digitalPinHasPWM(brakePin)));
+#elif defined(digitalPinToTimer)
       return ((brakePin!=UNUSED_PIN) && (digitalPinToTimer(brakePin)));
 #else
       return (brakePin<14 && brakePin >1);
-#endif //digitalPinToTimer
-#endif //ESP32/ARM
+#endif
     }
     inline int getRawCurrentTripValue() {
 	    return rawCurrentTripValue;

TrackManager.cpp

@@ -26,7 +26,8 @@
 #include "MotorDriver.h"
 #include "DCCTimer.h"
 #include "DIAG.h"
-#include"CommandDistributor.h"
+#include "CommandDistributor.h"
+#include "DCCEXParser.h"
 // Virtualised Motor shield multi-track hardware Interface
 #define FOR_EACH_TRACK(t) for (byte t=0;t<=lastTrack;t++)
     
@@ -154,10 +155,16 @@ void TrackManager::setDCCSignal( bool on) {
   HAVE_PORTA(shadowPORTA=PORTA);
   HAVE_PORTB(shadowPORTB=PORTB);
   HAVE_PORTC(shadowPORTC=PORTC);
+  HAVE_PORTD(shadowPORTD=PORTD);
+  HAVE_PORTE(shadowPORTE=PORTE);
+  HAVE_PORTF(shadowPORTF=PORTF);
   APPLY_BY_MODE(TRACK_MODE_MAIN,setSignal(on));
   HAVE_PORTA(PORTA=shadowPORTA);
   HAVE_PORTB(PORTB=shadowPORTB);
   HAVE_PORTC(PORTC=shadowPORTC);
+  HAVE_PORTD(PORTD=shadowPORTD);
+  HAVE_PORTE(PORTE=shadowPORTE);
+  HAVE_PORTF(PORTF=shadowPORTF);
 }
 
 void TrackManager::setCutout( bool on) {
@@ -172,10 +179,16 @@ void TrackManager::setPROGSignal( bool on) {
   HAVE_PORTA(shadowPORTA=PORTA);
   HAVE_PORTB(shadowPORTB=PORTB);
   HAVE_PORTC(shadowPORTC=PORTC);
+  HAVE_PORTD(shadowPORTD=PORTD);
+  HAVE_PORTE(shadowPORTE=PORTE);
+  HAVE_PORTF(shadowPORTF=PORTF);
   APPLY_BY_MODE(TRACK_MODE_PROG,setSignal(on));
   HAVE_PORTA(PORTA=shadowPORTA);
   HAVE_PORTB(PORTB=shadowPORTB);
   HAVE_PORTC(PORTC=shadowPORTC);
+  HAVE_PORTD(PORTD=shadowPORTD);
+  HAVE_PORTE(PORTE=shadowPORTE);
+  HAVE_PORTF(PORTF=shadowPORTF);
 }
 
 // setDCSignal(), called from normal context
@@ -319,6 +332,7 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
         FOR_EACH_TRACK(t)
              streamTrackState(stream,t);
         return true;
+        
     }
     
     p[0]-=HASH_KEYWORD_A;  // convert A... to 0.... 
@@ -353,32 +367,36 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
   // null stream means send to commandDistributor for broadcast
   if (track[t]==NULL) return;
   auto format=F("");
+  bool pstate = TrackManager::isPowerOn(t);
+  
   switch(track[t]->getMode()) {
   case TRACK_MODE_MAIN:
-      format=F("<= %c MAIN>\n");
+      if (pstate) {format=F("<= %c MAIN ON>\n");} else {format = F("<= %c MAIN OFF>\n");}
       break;
 #ifndef DISABLE_PROG
   case TRACK_MODE_PROG:
-      format=F("<= %c PROG>\n");
+      if (pstate) {format=F("<= %c PROG ON>\n");} else {format=F("<= %c PROG OFF>\n");}
       break;
 #endif
   case TRACK_MODE_NONE:
-      format=F("<= %c NONE>\n");
+      if (pstate) {format=F("<= %c NONE ON>\n");} else {format=F("<= %c NONE OFF>\n");}
       break;
   case TRACK_MODE_EXT:
-      format=F("<= %c EXT>\n");
+      if (pstate) {format=F("<= %c EXT ON>\n");} else {format=F("<= %c EXT OFF>\n");}
       break;
   case TRACK_MODE_DC:
-      format=F("<= %c DC %d>\n");
+      if (pstate) {format=F("<= %c DC %d ON>\n");} else {format=F("<= %c DC %d OFF>\n");}
       break;
   case TRACK_MODE_DCX:
-      format=F("<= %c DCX %d>\n");
+      if (pstate) {format=F("<= %c DCX %d ON>\n");} else {format=F("<= %c DCX %d OFF>\n");}
       break;
   default:
       break; // unknown, dont care    
   }
-  if (stream) StringFormatter::send(stream,format,'A'+t,trackDCAddr[t]);
-  else CommandDistributor::broadcastTrackState(format,'A'+t,trackDCAddr[t]);
+
+  if (stream) StringFormatter::send(stream,format,'A'+t, trackDCAddr[t]);   
+    else CommandDistributor::broadcastTrackState(format,'A'+t, trackDCAddr[t]);
+  
 }
 
 byte TrackManager::nextCycleTrack=MAX_TRACKS;
@@ -412,49 +430,70 @@ std::vector<MotorDriver *>TrackManager::getMainDrivers() {
 }
 #endif
 
-void TrackManager::setPower2(bool setProg,POWERMODE mode) {
+void TrackManager::setPower2(bool setProg,bool setJoin, POWERMODE mode) {
     if (!setProg) mainPowerGuess=mode; 
     FOR_EACH_TRACK(t) {
-        MotorDriver * driver=track[t]; 
-        if (!driver) continue; 
-        switch (track[t]->getMode()) {
-            case TRACK_MODE_MAIN:
-                if (setProg) break; 
-                // toggle brake before turning power on - resets overcurrent error
-                // on the Pololu board if brake is wired to ^D2.
-		// XXX see if we can make this conditional
-                driver->setBrake(true);
-                driver->setBrake(false); // DCC runs with brake off
-                driver->setPower(mode);  
-                break; 
-            case TRACK_MODE_DC:
-            case TRACK_MODE_DCX:
-                if (setProg) break; 
-                driver->setBrake(true); // DC starts with brake on
-                applyDCSpeed(t);        // speed match DCC throttles
-                driver->setPower(mode);
-                break;  
-            case TRACK_MODE_PROG:
-                if (!setProg) break; 
-                driver->setBrake(true);
-                driver->setBrake(false);
-                driver->setPower(mode);
-                break;  
-            case TRACK_MODE_EXT:
-	        driver->setBrake(true);
-	        driver->setBrake(false);
-		driver->setPower(mode);
-	        break;
-            case TRACK_MODE_NONE:
-                break;
-        }
+
+      TrackManager::setTrackPower(setProg, setJoin, mode, t);
+      
     }
+    return;
 }
-  
+
+void TrackManager::setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byte thistrack) {
+
+      //DIAG(F("SetTrackPower Processing Track %d"), thistrack);
+      MotorDriver * driver=track[thistrack]; 
+      if (!driver) return; 
+
+      switch (track[thistrack]->getMode()) {
+          case TRACK_MODE_MAIN:
+              if (setProg) break; 
+              // toggle brake before turning power on - resets overcurrent error
+              // on the Pololu board if brake is wired to ^D2.
+              // XXX see if we can make this conditional
+              driver->setBrake(true);
+              driver->setBrake(false); // DCC runs with brake off
+              driver->setPower(mode);  
+              break; 
+          case TRACK_MODE_DC:
+          case TRACK_MODE_DCX:
+              //DIAG(F("Processing track - %d setProg %d"), thistrack, setProg);
+              if (setProg || setJoin)  break; 
+              driver->setBrake(true); // DC starts with brake on
+              applyDCSpeed(thistrack);        // speed match DCC throttles
+              driver->setPower(mode);
+              break;  
+          case TRACK_MODE_PROG:
+              if (!setProg && !setJoin) break; 
+              driver->setBrake(true);
+              driver->setBrake(false);
+              driver->setPower(mode);
+              break;  
+          case TRACK_MODE_EXT:
+              driver->setBrake(true);
+              driver->setBrake(false);
+              driver->setPower(mode);
+        break;
+          case TRACK_MODE_NONE:
+              break;
+        }
+
+ }
+
+ void TrackManager::reportPowerChange(Print* stream, byte thistrack) {
+  // This function is for backward JMRI compatibility only
+  // It reports the first track only, as main, regardless of track settings.
+  //  <c MeterName value C/V unit min max res warn>
+  int maxCurrent=track[0]->raw2mA(track[0]->getRawCurrentTripValue());
+  StringFormatter::send(stream, F("<c CurrentMAIN %d C Milli 0 %d 1 %d>\n"), 
+            track[0]->raw2mA(track[0]->getCurrentRaw(false)), maxCurrent, maxCurrent);                  
+}
+
 POWERMODE TrackManager::getProgPower() {
     FOR_EACH_TRACK(t)
       if (track[t]->getMode()==TRACK_MODE_PROG) 
-	return track[t]->getPower();
+	  return track[t]->getPower();
     return POWERMODE::OFF;   
   }
 
@@ -526,3 +565,32 @@ bool TrackManager::isPowerOn(byte t) {
     return true;   
   }
 
+bool TrackManager::isProg(byte t) {
+    if (track[t]->getMode()==TRACK_MODE_PROG)
+        return true;
+    return false;
+}
+
+byte TrackManager::returnMode(byte t) {
+    return (track[t]->getMode());
+}
+
+int16_t TrackManager::returnDCAddr(byte t) {
+    return (trackDCAddr[t]);
+}
+
+const char* TrackManager::getModeName(byte Mode) {
+  
+  //DIAG(F("PowerMode %d"), Mode);
+
+switch (Mode)
+  {
+  case 1: return "NONE";
+  case 2: return "MAIN";
+  case 4: return "PROG";
+  case 8: return "DC";
+  case 16: return "DCX";
+  case 32: return "EXT";
+  default: return "----";
+  }
+}

TrackManager.h

@@ -39,6 +39,10 @@ const byte TRACK_NUMBER_5=5, TRACK_NUMBER_F=5;
 const byte TRACK_NUMBER_6=6, TRACK_NUMBER_G=6;    
 const byte TRACK_NUMBER_7=7, TRACK_NUMBER_H=7;    
 
+// These constants help EXRAIL macros convert Track Power e.g. SET_POWER(A ON|OFF).
+const byte TRACK_POWER_0=0, TRACK_POWER_OFF=0;    
+const byte TRACK_POWER_1=1, TRACK_POWER_ON=1;   
+
 class TrackManager {
   public:
     static void Setup(const FSH * shieldName,
@@ -60,10 +64,14 @@ class TrackManager {
 #ifdef ARDUINO_ARCH_ESP32
   static std::vector<MotorDriver *>getMainDrivers();
 #endif
-    static void setPower2(bool progTrack,POWERMODE mode);
+  
+    static void setPower2(bool progTrack,bool joinTrack,POWERMODE mode);
     static void setPower(POWERMODE mode) {setMainPower(mode); setProgPower(mode);}
-    static void setMainPower(POWERMODE mode) {setPower2(false,mode);}
-    static void setProgPower(POWERMODE mode) {setPower2(true,mode);}
+    static void setMainPower(POWERMODE mode) {setPower2(false,false,mode);}
+    static void setProgPower(POWERMODE mode) {setPower2(true,false,mode);}
+    static void setJoinPower(POWERMODE mode) {setPower2(false,true,mode);}
+    static void setTrackPower(bool setProg, bool setJoin, POWERMODE mode, byte thistrack);
+   
 
     static const int16_t MAX_TRACKS=8;
     static bool setTrackMode(byte track, TRACK_MODE mode, int16_t DCaddr=0);
@@ -77,9 +85,14 @@ class TrackManager {
     static void sampleCurrent();
     static void reportGauges(Print* stream);
     static void reportCurrent(Print* stream);
+    static void reportPowerChange(Print* stream, byte thistrack);
     static void reportObsoleteCurrent(Print* stream); 
     static void streamTrackState(Print* stream, byte t);
     static bool isPowerOn(byte t);
+    static bool isProg(byte t);
+    static byte returnMode(byte t);
+    static int16_t returnDCAddr(byte t);
+    static const char* getModeName(byte Mode);
 
     static int16_t joinRelay;
     static bool progTrackSyncMain;  // true when prog track is a siding switched to main

Turntables.cpp

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

Turntables.h

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

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)
@@ -213,6 +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

myHal.cpp_example.txt

@@ -24,6 +24,7 @@
 //#include "IO_TouchKeypad.h  // Touch keypad with 16 keys
 //#include "IO_EXTurntable.h"   // Turntable-EX turntable controller
 //#include "IO_EXFastClock.h"  // FastClock driver
+//#include "IO_PCA9555.h"     // 16-bit I/O expander (NXP & Texas Instruments).
 
 //==========================================================================
 // The function halSetup() is invoked from CS if it exists within the build.

platformio.ini

@@ -30,8 +30,7 @@ include_dir = .
 
 [env]
 build_flags = -Wall -Wextra
-monitor_filters = time
-; lib_deps = adafruit/Adafruit ST7735 and ST7789 Library @ ^1.10.0
+; monitor_filters = time
 
 [env:samd21-dev-usb]
 platform = atmelsam
@@ -60,7 +59,7 @@ framework = arduino
 lib_deps = ${env.lib_deps}
 monitor_speed = 115200
 monitor_echo = yes
-build_flags = -std=c++17 ; -DI2C_USE_WIRE  -DDIAG_LOOPTIMES -DDIAG_IO
+build_flags = -std=c++17
 
 [env:mega2560-debug]
 platform = atmelavr
@@ -72,7 +71,7 @@ lib_deps =
 	SPI
 monitor_speed = 115200
 monitor_echo = yes
-build_flags =  -DDIAG_IO=2 -DDIAG_LOOPTIMES
+build_flags = -DDIAG_IO=2 -DDIAG_LOOPTIMES
 
 [env:mega2560-no-HAL]
 platform = atmelavr
@@ -84,7 +83,7 @@ lib_deps =
 	SPI
 monitor_speed = 115200
 monitor_echo = yes
-build_flags = -DIO_NO_HAL 
+build_flags = -DIO_NO_HAL
 
 [env:mega2560-I2C-wire]
 platform = atmelavr
@@ -108,7 +107,7 @@ lib_deps =
 	SPI
 monitor_speed = 115200
 monitor_echo = yes
-build_flags =     ; -DDIAG_LOOPTIMES
+build_flags = 
 
 [env:mega328]
 platform = atmelavr
@@ -190,10 +189,75 @@ platform = ststm32
 board = nucleo_f446re
 framework = arduino
 lib_deps = ${env.lib_deps}
-build_flags = -std=c++17  -Os -g2 -Wunused-variable ; -DDIAG_LOOPTIMES ; -DDIAG_IO 
+build_flags = -std=c++17  -Os -g2 -Wunused-variable
 monitor_speed = 115200
 monitor_echo = yes
 
+; Experimental - no reason this should not work, but not
+; tested as yet
+;
+[env:Nucleo-F401RE]
+platform = ststm32
+board = nucleo_f401re
+framework = arduino
+lib_deps = ${env.lib_deps}
+build_flags = -std=c++17  -Os -g2 -Wunused-variable
+monitor_speed = 115200
+monitor_echo = yes
+
+; Commented out by default as the F13ZH has variant files
+; but NOT the nucleo_f413zh.json file which needs to be
+; installed before you can let PlatformIO see this
+;
+; [env:Nucleo-F413ZH]
+; platform = ststm32
+; board = nucleo_f413zh
+; framework = arduino
+; lib_deps = ${env.lib_deps}
+; build_flags = -std=c++17  -Os -g2 -Wunused-variable
+; monitor_speed = 115200
+; monitor_echo = yes
+
+; Commented out by default as the F446ZE needs variant files
+; installed before you can let PlatformIO see this
+;
+; [env:Nucleo-F446ZE]
+; platform = ststm32
+; board = nucleo_f446ze
+; framework = arduino
+; lib_deps = ${env.lib_deps}
+; build_flags = -std=c++17  -Os -g2 -Wunused-variable
+; monitor_speed = 115200
+; monitor_echo = yes
+
+; Commented out by default as the F412ZG needs variant files
+; installed before you can let PlatformIO see this
+;
+; [env:Nucleo-F412ZG]
+; platform = ststm32
+; board = blah_f412zg
+; framework = arduino
+; lib_deps = ${env.lib_deps}
+; build_flags = -std=c++17 -Os -g2 -Wunused-variable
+; monitor_speed = 115200
+; monitor_echo = yes
+; upload_protocol = stlink
+
+; Experimental - Ethernet work still in progress
+;
+; [env:Nucleo-F429ZI]
+; platform = ststm32
+; board = nucleo_f429zi
+; framework = arduino
+; lib_deps = ${env.lib_deps}
+; 			arduino-libraries/Ethernet @ ^2.0.1
+; 			stm32duino/STM32Ethernet @ ^1.3.0
+; 			stm32duino/STM32duino LwIP @ ^2.1.2
+; build_flags = -std=c++17 -Os -g2 -Wunused-variable
+; monitor_speed = 115200
+; monitor_echo = yes
+; upload_protocol = stlink
+
 [env:Teensy3_2]
 platform = teensy
 board = teensy31
@@ -232,5 +296,4 @@ board = teensy41
 framework = arduino
 build_flags = -std=c++17  -Os -g2
 lib_deps = ${env.lib_deps}
-lib_ignore = 
-
+lib_ignore =

version.h

@@ -3,7 +3,33 @@
 
 #include "StringFormatter.h"
 
-#define VERSION "5.1.5LCC"
+#define VERSION "5.1.14"
+// 5.1.14 - Fixed IFTTPOSITION
+// 5.1.13 - Changed turntable broadcast from i to I due to server string conflict
+// 5.1.12 - Added Power commands <0 A> & <1 A> etc. and update to <=>
+//          Added EXRAIL SET_POWER(track, ON/OFF)
+//          Fixed a problem whereby <1 MAIN> also powered on PROG track
+//          Added functions to TrackManager.cpp to allow UserAddin code for power display on OLED/LCD
+//          Added - returnMode(byte t), returnDCAddr(byte t) & getModeName(byte Mode)
+// 5.1.11 - STM32F4xx revised I2C clock setup, no correctly sets clock and has fully variable frequency selection
+// 5.1.10 - STM32F4xx DCCEXanalogWrite to handle PWM generation for TrackManager DC/DCX
+//        - STM32F4xx DCC 58uS timer now using non-PWM output timers where possible
+//        - ESP32 brakeCanPWM check now detects UNUSED_PIN
+//        - ARM architecture brakeCanPWM now uses digitalPinHasPWM()
+//        - STM32F4xx shadowpin extensions to handle pins on ports D, E and F
+// 5.1.9  - Fixed IO_PCA9555'h to work with PCA9548 mux, tested OK
+// 5.1.8  - STM32Fxx ADCee extension to support ADCs #2 and #3
+// 5.1.7  - Fix turntable broadcasts for non-movement activities and <JP> result
+// 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