use M1 and M2 instead of MD for motor control

Add serial output for sabertooth controller
Merge branch 'devel' of https://github.com/DCC-EX/CommandStation-EX into devel
2025-07-29 02:13:45 +02:00 · 2023-05-02 23:51:17 +02:00 · 2023-05-01 20:18:32 +02:00 · 2023-04-19 19:46:12 +01:00 · 2023-04-19 19:45:40 +01:00 · 2023-04-19 11:18:47 +01:00
43 changed files with 1651 additions and 237 deletions
--- a/CommandDistributor.cpp
+++ b/CommandDistributor.cpp
@@ -2,6 +2,7 @@
 *  © 2022 Harald Barth
 *  © 2020-2021 Chris Harlow
 *  © 2020 Gregor Baues
+ *  © 2022 Colin Murdoch
 *  All rights reserved.
 *
 *  This file is part of CommandStation-EX
@@ -204,6 +205,39 @@ int16_t CommandDistributor::retClockTime() {
 void  CommandDistributor::broadcastLoco(byte slot) {
  DCC::LOCO * sp=&DCC::speedTable[slot];
  broadcastReply(COMMAND_TYPE, F("<l %d %d %d %l>\n"), sp->loco,slot,sp->speedCode,sp->functions);
+#ifdef SABERTOOTH
+  if (Serial2 && sp->loco == SABERTOOTH) {
+    static uint8_t rampingmode = 0;
+    bool direction = (sp->speedCode & 0x80) !=0; // true for forward
+    int32_t speed = sp->speedCode & 0x7f;
+    if (speed == 1) { // emergency stop
+      if (rampingmode != 1) {
+	rampingmode = 1;
+	Serial2.print("R1: 0\r\n");
+	Serial2.print("R2: 0\r\n");
+      }
+      Serial2.print("MD: 0\r\n");
+    } else {
+      if (speed != 0) {
+        // speed is here 2 to 127
+	speed = (speed - 1) * 1625 / 100;
+	speed = speed * (direction ? 1 : -1);
+	// speed is here -2047 to 2047
+      }
+      if (rampingmode != 2) {
+	rampingmode = 2;
+	Serial2.print("R1: 2047\r\n");
+	Serial2.print("R2: 2047\r\n");
+      }
+      Serial2.print("M1: ");
+      Serial2.print(speed);
+      Serial2.print("\r\n");
+      Serial2.print("M2: ");
+      Serial2.print(speed);
+      Serial2.print("\r\n");
+    }
+  }
+#endif
 #ifdef CD_HANDLE_RING
  WiThrottle::markForBroadcast(sp->loco);
 #endif
--- a/CommandDistributor.h
+++ b/CommandDistributor.h
@@ -2,6 +2,8 @@
 *  © 2022 Harald Barth
 *  © 2020-2021 Chris Harlow
 *  © 2020 Gregor Baues
+ *  © 2022 Colin Murdoch
+ * 
 *  All rights reserved.
 *
 *  This file is part of CommandStation-EX
--- a/CommandStation-EX.ino
+++ b/CommandStation-EX.ino
@@ -75,6 +75,9 @@ void setup()

  DIAG(F("License GPLv3 fsf.org (c) dcc-ex.com"));

+// Initialise HAL layer before reading EEprom or setting up MotorDrivers 
+  IODevice::begin();
+
  DISPLAY_START (
    // This block is still executed for DIAGS if display not in use
    LCD(0,F("DCC-EX v%S"),F(VERSION));
@@ -96,10 +99,7 @@ void setup()
 #if ETHERNET_ON
  EthernetInterface::setup();
 #endif // ETHERNET_ON
-
-  // Initialise HAL layer before reading EEprom or setting up MotorDrivers 
-  IODevice::begin();
-
+  
  // As the setup of a motor shield may require a read of the current sense input from the ADC,
  // let's make sure to initialise the ADCee class!
  ADCee::begin();
--- a/DCCEXParser.cpp
+++ b/DCCEXParser.cpp
@@ -7,6 +7,7 @@
 *  © 2020-2021 M Steve Todd
 *  © 2020-2021 Fred Decker
 *  © 2020-2021 Chris Harlow
+ *  © 2022 Colin Murdoch
 *  All rights reserved.
 *  
 *  This file is part of CommandStation-EX
@@ -967,7 +968,7 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
        break;

    case HASH_KEYWORD_ANIN:   // <D ANIN vpin>  Display analogue input value
-        DIAG(F("VPIN=%d value=%d"), p[1], IODevice::readAnalogue(p[1]));
+        DIAG(F("VPIN=%u value=%d"), p[1], IODevice::readAnalogue(p[1]));
        break;

 #if !defined(IO_NO_HAL)
--- a/DCCTimer.h
+++ b/DCCTimer.h
@@ -1,7 +1,7 @@
 /*
- *  © 2022 Paul M. Antoine
+ *  © 2022-2023 Paul M. Antoine
 *  © 2021 Mike S
- *  © 2021-2022 Harald Barth
+ *  © 2021-2023 Harald Barth
 *  © 2021 Fred Decker
 *  All rights reserved.
 *  
@@ -62,6 +62,9 @@ class DCCTimer {
  static bool isPWMPin(byte pin);
  static void setPWM(byte pin, bool high);
  static void clearPWM();
+  static void DCCEXanalogWriteFrequency(uint8_t pin, uint32_t frequency);
+  static void DCCEXanalogWrite(uint8_t pin, int value);
+
 // Update low ram level.  Allow for extra bytes to be specified
 // by estimation or inspection, that may be used by other 
 // called subroutines.  Must be called with interrupts disabled.
--- a/DCCTimerESP.cpp
+++ b/DCCTimerESP.cpp
@@ -150,6 +150,45 @@ int DCCTimer::freeMemory() {
 void DCCTimer::reset() {
   ESP.restart();
 }
+
+#include "esp32-hal.h"
+#include "soc/soc_caps.h"
+
+
+#ifdef SOC_LEDC_SUPPORT_HS_MODE
+#define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM<<1)
+#else
+#define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM)
+#endif
+
+static int8_t pin_to_channel[SOC_GPIO_PIN_COUNT] = { 0 };
+static int cnt_channel = LEDC_CHANNELS;
+
+void DCCTimer::DCCEXanalogWriteFrequency(uint8_t pin, uint32_t frequency) {
+  if (pin < SOC_GPIO_PIN_COUNT) {
+    if (pin_to_channel[pin] != 0) {
+      ledcSetup(pin_to_channel[pin], frequency, 8);
+    }
+  }
+}
+
+void DCCTimer::DCCEXanalogWrite(uint8_t pin, int value) {
+  if (pin < SOC_GPIO_PIN_COUNT) {
+    if (pin_to_channel[pin] == 0) {
+      if (!cnt_channel) {
+          log_e("No more PWM channels available! All %u already used", LEDC_CHANNELS);
+          return;
+      }
+      pin_to_channel[pin] = --cnt_channel;
+      ledcAttachPin(pin, cnt_channel);
+      ledcSetup(cnt_channel, 1000, 8);
+    } else {
+      ledcAttachPin(pin, pin_to_channel[pin]);
+    }
+    ledcWrite(pin_to_channel[pin], value);
+  }
+}
+
 int ADCee::init(uint8_t pin) {
  pinMode(pin, ANALOG);
  adc1_config_width(ADC_WIDTH_BIT_12);
--- a/DCCTimerSAMD.cpp
+++ b/DCCTimerSAMD.cpp
@@ -162,7 +162,7 @@ uint16_t ADCee::usedpins = 0;
 int * ADCee::analogvals = NULL;

 int ADCee::init(uint8_t pin) {
-  uint id = pin - A0;
+  uint8_t id = pin - A0;
  int value = 0;

  if (id > NUM_ADC_INPUTS)
@@ -210,7 +210,7 @@ int ADCee::read(uint8_t pin, bool fromISR) {
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
 void ADCee::scan() {
-  static uint id = 0;        // id and mask are the same thing but it is faster to 
+  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;

--- a/DCCTimerSTM32.cpp
+++ b/DCCTimerSTM32.cpp
@@ -1,8 +1,8 @@
 /*
 *  © 2023 Neil McKechnie
- *  © 2022 Paul M. Antoine
+ *  © 2022-23 Paul M. Antoine
 *  © 2021 Mike S
- *  © 2021 Harald Barth
+ *  © 2021, 2023 Harald Barth
 *  © 2021 Fred Decker
 *  © 2021 Chris Harlow
 *  © 2021 David Cutting
@@ -43,11 +43,18 @@ HardwareSerial Serial6(PA12, PA11);  // Rx=PA12, Tx=PA11 -- CN10 pins 12 and 14
 HardwareSerial Serial1(PA10, PB6);  // Rx=PA10 (D2), Tx=PB6 (D10) -- CN10 pins 17 and 9 - F446RE 
 // Serial2 is defined to use USART2 by default, but is in fact used as the diag console
 // via the debugger on the Nucleo-64. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
+// NB: USART3 and USART6 are available but as yet undefined
 #elif defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
 // Nucleo-144 boards don't have Serial1 defined by default
 HardwareSerial Serial1(PG9, PG14);  // Rx=PG9, Tx=PG14 -- D0, D1 - F412ZG/F446ZE
+// Serial2 is defined to use USART2 by default, but is in fact used as the diag console
+// via the debugger on the Nucleo-144. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
+// NB:
+//    On all of the above, USART3, and USART6 are available but as yet undefined
+//    On F446ZE and F429ZI, UART4, UART5 are also available but as yet undefined
+//    On F429ZI, UART7 and UART8 are also available but as yet undefined
 #else
-#warning Serial1 not defined
+#error STM32 board selected is not yet explicitly supported - so Serial1 peripheral is not defined
 #endif

 ///////////////////////////////////////////////////////////////////////////////////////////////
@@ -227,6 +234,9 @@ void DCCTimer::reset() {
 #define NUM_ADC_INPUTS NUM_ANALOG_INPUTS

 // 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
 uint16_t ADCee::usedpins = 0;
 int * ADCee::analogvals = NULL;
 uint32_t * analogchans = NULL;
@@ -237,10 +247,13 @@ int16_t ADCee::ADCmax() {
 }

 int ADCee::init(uint8_t pin) {
-  uint id = pin - A0;
+
  int value = 0;
-  PinName stmpin = digitalPin[analogInputPin[id]];
-  uint32_t stmgpio = stmpin / 16; // 16-bits per GPIO port group on STM32
+  PinName stmpin = analogInputToPinName(pin);
+  if (stmpin == NC) // do not continue if this is not an analog pin at all
+    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;

@@ -258,12 +271,20 @@ int ADCee::init(uint8_t pin) {
        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; //Power up PORTC
        gpioBase = GPIOC;
        break;
+    default:
+      return -1023; // some silly value as error
  }

-  // Set pin mux mode to analog input
-  gpioBase->MODER |= (0b011 << (stmpin << 1)); // Set pin mux to analog mode
+  // Set pin mux mode to analog input, the 32 bit port mode register has 2 bits per pin
+  gpioBase->MODER |= (0b011 << (STM_PIN(stmpin) << 1)); // Set pin mux to analog mode (binary 11)

  // Set the sampling rate for that analog input
+  // This is F411x specific! Different on for example F334
+  // STM32F11xC/E Reference manual
+  // 11.12.4 ADC sample time register 1 (ADC_SMPR1) (channels 10 to 18)
+  // 11.12.5 ADC sample time register 2 (ADC_SMPR2) (channels 0 to 9)
+  if (adcchan > 18)
+    return -1022; // silly value as error
  if (adcchan < 10)
    ADC1->SMPR2 |= (0b111 << (adcchan * 3)); // Channel sampling rate 480 cycles
  else
@@ -275,8 +296,12 @@ int ADCee::init(uint8_t pin) {
  while(!(ADC1->SR & (1 << 1)));  // Wait until conversion is complete
  value = ADC1->DR;               // Read value from register

-  if (analogvals == NULL)
-  {
+  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 (analogvals == NULL) {  // allocate analogvals and analogchans 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));
  }
@@ -291,7 +316,7 @@ int ADCee::init(uint8_t pin) {
 * Read function ADCee::read(pin) to get value instead of analogRead(pin)
 */
 int ADCee::read(uint8_t pin, bool fromISR) {
-  uint8_t id = pin - A0;
+  uint8_t id = pin - PNUM_ANALOG_BASE;
  // Was this pin initialised yet?
  if ((usedpins & (1<<id) ) == 0)
    return -1023;
@@ -306,7 +331,7 @@ int ADCee::read(uint8_t pin, bool fromISR) {
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
 void ADCee::scan() {
-  static uint id = 0;        // id and mask are the same thing but it is faster to 
+  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;

@@ -368,4 +393,4 @@ void ADCee::begin() {
  ADC1->CR2 |= (1 << 0); // Switch on ADC1
  interrupts();
 }
-#endif
+#endif
--- a/ESP32-fixes.cpp
+++ b/ESP32-fixes.cpp
@@ -1,61 +0,0 @@
-/*
- *  © 2022 Harald Barth
- *  All rights reserved.
- *  
- *  This file is part of CommandStation-EX
- *
- *  This is free software: you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation, either version 3 of the License, or
- *  (at your option) any later version.
- *
- *  It is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
- */
-#ifdef ARDUINO_ARCH_ESP32
-#include <Arduino.h>
-#include "ESP32-fixes.h"
-
-#include "esp32-hal.h"
-#include "soc/soc_caps.h"
-
-
-#ifdef SOC_LEDC_SUPPORT_HS_MODE
-#define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM<<1)
-#else
-#define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM)
-#endif
-
-static int8_t pin_to_channel[SOC_GPIO_PIN_COUNT] = { 0 };
-static int cnt_channel = LEDC_CHANNELS;
-
-void DCCEXanalogWriteFrequency(uint8_t pin, uint32_t frequency) {
-  if (pin < SOC_GPIO_PIN_COUNT) {
-    if (pin_to_channel[pin] != 0) {
-      ledcSetup(pin_to_channel[pin], frequency, 8);
-    }
-  }
-}
-
-void DCCEXanalogWrite(uint8_t pin, int value) {
-  if (pin < SOC_GPIO_PIN_COUNT) {
-    if (pin_to_channel[pin] == 0) {
-      if (!cnt_channel) {
-          log_e("No more PWM channels available! All %u already used", LEDC_CHANNELS);
-          return;
-      }
-      pin_to_channel[pin] = --cnt_channel;
-      ledcAttachPin(pin, cnt_channel);
-      ledcSetup(cnt_channel, 1000, 8);
-    } else {
-      ledcAttachPin(pin, pin_to_channel[pin]);
-    }
-    ledcWrite(pin_to_channel[pin], value);
-  }
-}
-#endif
--- a/ESP32-fixes.h
+++ b/ESP32-fixes.h
@@ -1,26 +0,0 @@
-/*
- *  © 2022 Harald Barth
- *  All rights reserved.
- *  
- *  This file is part of CommandStation-EX
- *
- *  This is free software: you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation, either version 3 of the License, or
- *  (at your option) any later version.
- *
- *  It is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
- */
-#ifdef ARDUINO_ARCH_ESP32
-#pragma once
-#include <Arduino.h>
-void DCCEXanalogWriteFrequency(uint8_t pin, uint32_t frequency);
-void DCCEXanalogWrite(uint8_t pin, int value);
-#endif
-
--- a/EX-CommandStation-installer.exe
+++ b/EX-CommandStation-installer.exe
--- a/EXRAIL2.cpp
+++ b/EXRAIL2.cpp
@@ -2,6 +2,7 @@
 *  © 2021 Neil McKechnie
 *  © 2021-2023 Harald Barth
 *  © 2020-2023 Chris Harlow
+ *  © 2022 Colin Murdoch
 *  All rights reserved.
 *  
 *  This file is part of CommandStation-EX
@@ -198,7 +199,7 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
    case OPCODE_IFNOT: {
      int16_t pin = (int16_t)operand;
      if (pin<0) pin = -pin;
-      DIAG(F("EXRAIL input vpin %d"),pin);
+      DIAG(F("EXRAIL input VPIN %u"),pin);
      IODevice::configureInput((VPIN)pin,true);
      break;
    }
@@ -208,7 +209,7 @@ LookList* RMFT2::LookListLoader(OPCODE op1, OPCODE op2, OPCODE op3) {
    case OPCODE_IFGTE:
    case OPCODE_IFLT:
    case OPCODE_DRIVE: {
-      DIAG(F("EXRAIL analog input vpin %d"),(VPIN)operand);
+      DIAG(F("EXRAIL analog input VPIN %u"),(VPIN)operand);
      IODevice::configureAnalogIn((VPIN)operand);
      break;
    }
@@ -265,16 +266,17 @@ void RMFT2::setTurnoutHiddenState(Turnout * t) {
 char RMFT2::getRouteType(int16_t id) {
  for (int16_t i=0;;i+=2) {
    int16_t rid= GETHIGHFLASHW(routeIdList,i);
-    if (rid==id) return 'R';
    if (rid==0) break;
+    if (rid==id) return 'R';
  }
  for (int16_t i=0;;i+=2) {
    int16_t rid= GETHIGHFLASHW(automationIdList,i);
-    if (rid==id) return 'A';
    if (rid==0) break;
+    if (rid==id) return 'A';
  }
  return 'X';
-}   
+}
+
 // This filter intercepts <> commands to do the following:
 // - Implement RMFT specific commands/diagnostics
 // - Reject/modify JMRI commands that would interfere with RMFT processing
@@ -1129,7 +1131,10 @@ void RMFT2::clockEvent(int16_t clocktime, bool change) {
  // Hunt for an ONTIME for this time
  if (Diag::CMD)
   DIAG(F("Looking for clock event at : %d"), clocktime);
-  if (change)  handleEvent(F("CLOCK"),onClockLookup,clocktime);
+  if (change) {
+    handleEvent(F("CLOCK"),onClockLookup,clocktime);
+    handleEvent(F("CLOCK"),onClockLookup,25*60+clocktime%60);
+  }
 } 

 void RMFT2::handleEvent(const FSH* reason,LookList* handlers, int16_t id) {
--- a/EXRAIL2.h
+++ b/EXRAIL2.h
@@ -1,6 +1,7 @@
 /*
 *  © 2021 Neil McKechnie
 *  © 2020-2022 Chris Harlow
+ *  © 2022 Colin Murdoch
 *  © 2023 Harald Barth
 *  All rights reserved.
 *  
--- a/EXRAIL2MacroReset.h
+++ b/EXRAIL2MacroReset.h
@@ -1,5 +1,6 @@
 /*
 *  © 2020-2022 Chris Harlow. All rights reserved.
+ *  © 2022 Colin Murdoch
 *  © 2023 Harald Barth
 *  
 *  This file is part of CommandStation-EX
@@ -91,6 +92,7 @@
 #undef ONCLOSE
 #undef ONTIME
 #undef ONCLOCKTIME
+#undef ONCLOCKMINS
 #undef ONGREEN
 #undef ONRED
 #undef ONTHROW 
@@ -134,6 +136,7 @@
 #undef STOP 
 #undef THROW  
 #undef TURNOUT 
+#undef TURNOUTL
 #undef UNJOIN
 #undef UNLATCH 
 #undef VIRTUAL_SIGNAL
@@ -208,6 +211,7 @@
 #define ONAMBER(signal_id) 
 #define ONTIME(value)
 #define ONCLOCKTIME(hours,mins)
+#define ONCLOCKMINS(mins)
 #define ONDEACTIVATE(addr,subaddr)
 #define ONDEACTIVATEL(linear) 
 #define ONCLOSE(turnout_id)
@@ -254,6 +258,7 @@
 #define STOP 
 #define THROW(id)  
 #define TURNOUT(id,addr,subaddr,description...) 
+#define TURNOUTL(id,addr,description...) 
 #define UNJOIN 
 #define UNLATCH(sensor_id) 
 #define VIRTUAL_SIGNAL(id) 
--- a/EXRAILMacros.h
+++ b/EXRAILMacros.h
@@ -1,6 +1,7 @@
 /*
 *  © 2021 Neil McKechnie
 *  © 2020-2022 Chris Harlow
+ *  © 2022 Colin Murdoch
 *  © 2023 Harald Barth
 *  All rights reserved.
 *  
@@ -316,6 +317,7 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ONCLOSE(turnout_id) OPCODE_ONCLOSE,V(turnout_id),
 #define ONTIME(value) OPCODE_ONTIME,V(value),  
 #define ONCLOCKTIME(hours,mins) OPCODE_ONTIME,V((STRIP_ZERO(hours)*60)+STRIP_ZERO(mins)),
+#define ONCLOCKMINS(mins) ONCLOCKTIME(25,mins)
 #define ONDEACTIVATE(addr,subaddr) OPCODE_ONDEACTIVATE,V(addr<<2|subaddr),
 #define ONDEACTIVATEL(linear) OPCODE_ONDEACTIVATE,V(linear+3),
 #define ONGREEN(signal_id) OPCODE_ONGREEN,V(signal_id),
@@ -361,6 +363,7 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define STOP OPCODE_SPEED,V(0), 
 #define THROW(id)  OPCODE_THROW,V(id),
 #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,
 #define UNLATCH(sensor_id) OPCODE_UNLATCH,V(sensor_id),
 #define VIRTUAL_SIGNAL(id) 
--- a/GITHUB_SHA.h
+++ b/GITHUB_SHA.h
@@ -1 +1 @@
-#define GITHUB_SHA "devel-202303252126Z"
+#define GITHUB_SHA "devel-202305022149Z"
--- a/IODevice.cpp
+++ b/IODevice.cpp
@@ -63,15 +63,31 @@ void IODevice::begin() {
  if (exrailHalSetup)
    exrailHalSetup();

-  // Predefine two PCA9685 modules 0x40-0x41
+  // Predefine two PCA9685 modules 0x40-0x41 if no conflicts
  // Allocates 32 pins 100-131
-  PCA9685::create(100, 16, 0x40);
-  PCA9685::create(116, 16, 0x41);
+  if (checkNoOverlap(100, 16, 0x40)) {
+    PCA9685::create(100, 16, 0x40);
+  } else {
+    DIAG(F("Default PCA9685 at I2C 0x40 disabled due to configured user device"));
+  }
+  if (checkNoOverlap(116, 16, 0x41)) {
+    PCA9685::create(116, 16, 0x41);
+  } else {
+    DIAG(F("Default PCA9685 at I2C 0x41 disabled due to configured user device"));
+  }
  
-  // Predefine two MCP23017 module 0x20/0x21
+  // Predefine two MCP23017 module 0x20/0x21 if no conflicts
  // Allocates 32 pins 164-195
-  MCP23017::create(164, 16, 0x20);
-  MCP23017::create(180, 16, 0x21);
+  if (checkNoOverlap(164, 16, 0x20)) {
+    MCP23017::create(164, 16, 0x20);
+  } else {
+    DIAG(F("Default MCP23017 at I2C 0x20 disabled due to configured user device"));
+  }
+  if (checkNoOverlap(180, 16, 0x21)) {
+    MCP23017::create(180, 16, 0x21);
+  } else {
+    DIAG(F("Default MCP23017 at I2C 0x21 disabled due to configured user device"));
+  }
 }

 // reset() function to reinitialise all devices
@@ -169,7 +185,7 @@ bool IODevice::hasCallback(VPIN vpin) {

 // Display (to diagnostics) details of the device.
 void IODevice::_display() {
-  DIAG(F("Unknown device Vpins:%d-%d %S"), 
+  DIAG(F("Unknown device Vpins:%u-%u %S"), 
    (int)_firstVpin, (int)_firstVpin+_nPins-1, _deviceState==DEVSTATE_FAILED ? F("OFFLINE") : F(""));
 }

@@ -179,7 +195,7 @@ bool IODevice::configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, i
  IODevice *dev = findDevice(vpin);
  if (dev) return dev->_configure(vpin, configType, paramCount, params);
 #ifdef DIAG_IO
-  DIAG(F("IODevice::configure(): Vpin ID %d not found!"), (int)vpin);
+  DIAG(F("IODevice::configure(): VPIN %u not found!"), (int)vpin);
 #endif
  return false;
 }
@@ -191,7 +207,7 @@ int IODevice::read(VPIN vpin) {
      return dev->_read(vpin);
  }
 #ifdef DIAG_IO
-  DIAG(F("IODevice::read(): Vpin %d not found!"), (int)vpin);
+  DIAG(F("IODevice::read(): VPIN %u not found!"), (int)vpin);
 #endif
  return false;
 }
@@ -203,7 +219,7 @@ int IODevice::readAnalogue(VPIN vpin) {
      return dev->_readAnalogue(vpin);
  }
 #ifdef DIAG_IO
-  DIAG(F("IODevice::readAnalogue(): Vpin %d not found!"), (int)vpin);
+  DIAG(F("IODevice::readAnalogue(): VPIN %u not found!"), (int)vpin);
 #endif
  return -1023;
 }
@@ -213,7 +229,7 @@ int IODevice::configureAnalogIn(VPIN vpin) {
      return dev->_configureAnalogIn(vpin);
  }
 #ifdef DIAG_IO
-  DIAG(F("IODevice::configureAnalogIn(): Vpin %d not found!"), (int)vpin);
+  DIAG(F("IODevice::configureAnalogIn(): VPIN %u not found!"), (int)vpin);
 #endif
  return -1023;
 }
@@ -227,7 +243,7 @@ void IODevice::write(VPIN vpin, int value) {
    return;
  }
 #ifdef DIAG_IO
-  DIAG(F("IODevice::write(): Vpin ID %d not found!"), (int)vpin);
+  DIAG(F("IODevice::write(): VPIN %u not found!"), (int)vpin);
 #endif
 }

@@ -246,7 +262,7 @@ void IODevice::writeAnalogue(VPIN vpin, int value, uint8_t param1, uint16_t para
    return;
  }
 #ifdef DIAG_IO
-  DIAG(F("IODevice::writeAnalogue(): Vpin ID %d not found!"), (int)vpin);
+  DIAG(F("IODevice::writeAnalogue(): VPIN %u not found!"), (int)vpin);
 #endif
 }

@@ -314,9 +330,11 @@ IODevice *IODevice::findDeviceFollowing(VPIN vpin) {

 // Private helper function to check for vpin overlap. Run during setup only.
 // returns true if pins DONT overlap with existing device
+// TODO: Move the I2C address reservation and checks into the I2CManager code.
+// That will enable non-HAL devices to reserve I2C addresses too.
 bool IODevice::checkNoOverlap(VPIN firstPin, uint8_t nPins, I2CAddress i2cAddress) {
 #ifdef DIAG_IO
-  DIAG(F("Check no overlap %d %d %s"), firstPin,nPins,i2cAddress.toString());
+  DIAG(F("Check no overlap %u %u %s"), firstPin,nPins,i2cAddress.toString());
 #endif
  VPIN lastPin=firstPin+nPins-1;
  for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
@@ -327,7 +345,7 @@ bool IODevice::checkNoOverlap(VPIN firstPin, uint8_t nPins, I2CAddress i2cAddres
      VPIN lastDevPin=firstDevPin+dev->_nPins-1;
      bool noOverlap= firstPin>lastDevPin || lastPin<firstDevPin;
      if (!noOverlap) {
-          DIAG(F("WARNING HAL Overlap definition of pins  %d to %d ignored."),
+          DIAG(F("WARNING HAL Overlap, redefinition of Vpins %u to %u ignored."),
              firstPin, lastPin);
          return false;
      } 
@@ -374,7 +392,7 @@ void IODevice::begin() { DIAG(F("NO HAL CONFIGURED!")); }
 bool IODevice::configure(VPIN pin, ConfigTypeEnum configType, int nParams, int p[]) {
  if (configType!=CONFIGURE_INPUT || nParams!=1 || pin >= NUM_DIGITAL_PINS) return false;
  #ifdef DIAG_IO
-  DIAG(F("Arduino _configurePullup Pin:%d Val:%d"), pin, p[0]);
+  DIAG(F("Arduino _configurePullup pin:%d Val:%d"), pin, p[0]);
  #endif
  pinMode(pin, p[0] ? INPUT_PULLUP : INPUT);
  return true;
@@ -528,7 +546,7 @@ int ArduinoPins::_configureAnalogIn(VPIN vpin) {
 }

 void ArduinoPins::_display() {
-  DIAG(F("Arduino Vpins:%d-%d"), (int)_firstVpin, (int)_firstVpin+_nPins-1);
+  DIAG(F("Arduino Vpins:%u-%u"), (int)_firstVpin, (int)_firstVpin+_nPins-1);
 }

 /////////////////////////////////////////////////////////////////////////////////////////////////////
--- a/IODevice.h
+++ b/IODevice.h
@@ -467,6 +467,75 @@ protected:
  }
 };

+/////////////////////////////////////////////////////////////////////////////////////////////////////
+// 
+// This HAL device driver is intended for communication in automation
+// sequences.  A VPIN can be SET or RESET within a sequence, and its
+// current state checked elsewhere using IF, IFNOT, AT etc. or monitored
+// from JMRI using a Sensor object (DCC-EX <S ...> command).
+// Alternatively, the flag can be set from JMRI and other interfaces
+// using the <Z ...> command, to enable or disable actions within a sequence.
+// 
+// Example of configuration in halSetup.h:
+// 
+//  FLAGS::create(32000, 128);
+// 
+// or in myAutomation.h:
+//  
+//  HAL(FLAGS, 32000, 128);
+// 
+// Both create 128 flags numbered with VPINs 32000-32127.
+// 
+//
+
+class FLAGS : IODevice {
+private:
+  uint8_t *_states = NULL;
+
+public:
+  static void create(VPIN firstVpin, unsigned int nPins) {
+    if (checkNoOverlap(firstVpin, nPins))
+        new FLAGS(firstVpin, nPins);
+  }
+
+protected:
+  // Constructor performs static initialisation of the device object
+  FLAGS (VPIN firstVpin, int nPins) {
+    _firstVpin = firstVpin;
+    _nPins = nPins;
+    _states = (uint8_t *)calloc(1, (_nPins+7)/8);
+    if (!_states) {
+      DIAG(F("FLAGS: ERROR Memory Allocation Failure"));
+      return;
+    }
+
+    addDevice(this);
+  }
+
+  int _read(VPIN vpin) override {
+    int pin = vpin - _firstVpin;
+    if (pin >= _nPins || pin < 0) return 0;
+    uint8_t mask = 1 << (pin & 7);
+    return (_states[pin>>3] & mask) ? 1 : 0;
+  }
+
+  void _write(VPIN vpin, int value) override {
+    int pin = vpin - _firstVpin;
+    if (pin >= _nPins || pin < 0) return;
+    uint8_t mask = 1 << (pin & 7);
+    if (value) 
+      _states[pin>>3] |= mask;
+    else
+      _states[pin>>3] &= ~mask;
+  }
+
+  void _display() override {
+    DIAG(F("FLAGS configured on VPINs %u-%u"),
+      _firstVpin, _firstVpin+_nPins-1);
+  }
+
+};
+
 #include "IO_MCP23008.h"
 #include "IO_MCP23017.h"
 #include "IO_PCF8574.h"
--- a/IO_AnalogueInputs.h
+++ b/IO_AnalogueInputs.h
@@ -119,7 +119,7 @@ private:
        case STATE_GETVALUE:
          _value[_currentPin] = ((uint16_t)_inBuffer[0] << 8) + (uint16_t)_inBuffer[1];
          #ifdef IO_ANALOGUE_SLOW
-          DIAG(F("ADS111x pin:%d value:%d"), _currentPin, _value[_currentPin]);
+          DIAG(F("ADS111x VPIN:%u value:%d"), _currentPin, _value[_currentPin]);
          #endif

          // Move to next pin
@@ -142,7 +142,7 @@ private:
  }
  
  void _display() override {
-    DIAG(F("ADS111x I2C:%s Configured on Vpins:%d-%d %S"), _I2CAddress.toString(), _firstVpin, _firstVpin+_nPins-1,
+    DIAG(F("ADS111x I2C:%s Configured on Vpins:%u-%u %S"), _I2CAddress.toString(), _firstVpin, _firstVpin+_nPins-1,
      _deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F(""));
  }

--- a/IO_DCCAccessory.cpp
+++ b/IO_DCCAccessory.cpp
@@ -62,7 +62,7 @@ void DCCAccessoryDecoder::_write(VPIN id, int state) {

 void DCCAccessoryDecoder::_display() {
  int endAddress = _packedAddress + _nPins - 1;
-  DIAG(F("DCCAccessoryDecoder Configured on Vpins:%d-%d Addresses %d/%d-%d/%d)"), _firstVpin, _firstVpin+_nPins-1,
+  DIAG(F("DCCAccessoryDecoder Configured on Vpins:%u-%u Addresses %d/%d-%d/%d)"), _firstVpin, _firstVpin+_nPins-1,
      ADDRESS(_packedAddress), SUBADDRESS(_packedAddress), ADDRESS(endAddress), SUBADDRESS(endAddress));
 }

--- a/IO_DFPlayer.h
+++ b/IO_DFPlayer.h
@@ -1,5 +1,5 @@
 /*
- *  © 2022, Neil McKechnie. All rights reserved.
+ *  © 2023, Neil McKechnie. All rights reserved.
 *  
 *  This file is part of DCC++EX API
 *
@@ -33,10 +33,13 @@
 *   and Serialn is the name of the Serial port connected to the DFPlayer (e.g. Serial1).
 * 
 * Example:
- *   In mySetup function within mySetup.cpp:
+ *   In halSetup function within myHal.cpp:
 *       DFPlayer::create(3500, 5, Serial1);
+ *   or in myAutomation.h:
+ *       HAL(DFPlayer, 3500, 5, Serial1)
 * 
- * Writing an analogue value 1-2999 to the first pin (3500) will play the numbered file from the SD card;
+ * Writing an analogue value 1-2999 to the first pin (3500) will play the numbered file from the
+ * SD card; e.g. a value of 1 will play the first file, 2 for the second file etc.
 * Writing an analogue value 0 to the first pin (3500) will stop the file playing;
 * Writing an analogue value 0-30 to the second pin (3501) will set the volume;
 * Writing a digital value of 1 to a pin will play the file corresponding to that pin, e.g.
@@ -61,6 +64,10 @@
 * card (as listed by the DIR command in Windows).  This may not match the order of the files 
 * as displayed by Windows File Manager, which sorts the file names.  It is suggested that
 * files be copied into an empty SDcard in the desired order, one at a time.
+ * 
+ * The driver now polls the device for its current status every second.  Should the device
+ * fail to respond it will be marked off-line and its busy indicator cleared, to avoid
+ * lock-ups in automation scripts that are executing for a WAITFOR().
 */

 #ifndef IO_DFPlayer_h
@@ -74,7 +81,10 @@ private:
  HardwareSerial *_serial;
  bool _playing = false;
  uint8_t _inputIndex = 0;
-  unsigned long _commandSendTime; // Allows timeout processing
+  unsigned long _commandSendTime; // Time (us) that last transmit took place.
+  unsigned long _timeoutTime;
+  uint8_t _recvCMD;  // Last received command code byte
+  bool _awaitingResponse = false;
  uint8_t _requestedVolumeLevel = MAXVOLUME;
  uint8_t _currentVolume = MAXVOLUME;
  int _requestedSong = -1;  // -1=none, 0=stop, >0=file number
@@ -102,80 +112,137 @@ protected:

    // Send a query to the device to see if it responds
    sendPacket(0x42); 
-    _commandSendTime = micros();
+    _timeoutTime = micros() + 5000000UL;  // 5 second timeout
+    _awaitingResponse = true;
  }

  void _loop(unsigned long currentMicros) override {
-    // Check for incoming data on _serial, and update busy flag accordingly.
-    // Expected message is in the form "7E FF 06 3D xx xx xx xx xx EF"
-    while (_serial->available()) {
-      int c = _serial->read();
-      if (c == 0x7E && _inputIndex == 0) 
-        _inputIndex = 1;
-      else if ((c==0xFF && _inputIndex==1)
-            || (c==0x3D && _inputIndex==3) 
-            || (_inputIndex >=4 && _inputIndex <= 8))
-        _inputIndex++;
-      else if (c==0x06 && _inputIndex==2) { 
-        // Valid message prefix, so consider the device online
-        if (_deviceState==DEVSTATE_INITIALISING) {
-          _deviceState = DEVSTATE_NORMAL;
-          #ifdef DIAG_IO
-          _display();
-          #endif
-        }
-        _inputIndex++;
-      } else if (c==0xEF && _inputIndex==9) {
-        // End of play
-        if (_playing) {
-          #ifdef DIAG_IO
-          DIAG(F("DFPlayer: Finished"));
-          #endif
-          _playing = false;
-        }
-        _inputIndex = 0;
-      } else 
-        _inputIndex = 0;  // Unrecognised character sequence, start again!
-    }

-    // Check if the initial prompt to device has timed out.  Allow 5 seconds
-    if (_deviceState == DEVSTATE_INITIALISING && currentMicros - _commandSendTime > 5000000UL) {
+    // Read responses from device
+    processIncoming();
+
+    // Check if a command sent to device has timed out.  Allow 0.5 second for response
+    if (_awaitingResponse && (int32_t)(currentMicros - _timeoutTime) > 0) {
      DIAG(F("DFPlayer device not responding on serial port"));
      _deviceState = DEVSTATE_FAILED;
+      _awaitingResponse = false;
+      _playing = false;
    }

+    // Send any commands that need to go.
+    processOutgoing(currentMicros);
+
+    delayUntil(currentMicros + 10000); // Only enter every 10ms
+  }
+
+  // Check for incoming data on _serial, and update busy flag and other state accordingly
+  void processIncoming() {
+    // Expected message is in the form "7E FF 06 3D xx xx xx xx xx EF"
+    bool ok = false;
+    while (_serial->available()) {
+      int c = _serial->read();
+      switch (_inputIndex) {
+        case 0:
+          if (c == 0x7E) ok = true;
+          break;
+        case 1:
+          if (c == 0xFF) ok = true;
+          break;
+        case 2:
+          if (c== 0x06) ok = true;
+          break;
+        case 3:
+          _recvCMD = c; // CMD byte
+          ok = true;
+          break;
+        case 6:
+          switch (_recvCMD) {
+            case 0x42:
+              // Response to status query
+              _playing = (c != 0);
+              // Mark the device online and cancel timeout
+              if (_deviceState==DEVSTATE_INITIALISING) {
+                _deviceState = DEVSTATE_NORMAL;
+                #ifdef DIAG_IO
+                _display();
+                #endif
+              }
+              _awaitingResponse = false;
+              break;
+            case 0x3d:
+              // End of play
+              if (_playing) {
+                #ifdef DIAG_IO
+                DIAG(F("DFPlayer: Finished"));
+                #endif
+                _playing = false;
+              }
+              break;
+            case 0x40:
+              // Error code
+              DIAG(F("DFPlayer: Error %d returned from device"), c);
+              _playing = false;
+              break;
+          }
+          ok = true;
+          break;
+        case 4: case 5: case 7: case 8: 
+          ok = true;  // Skip over these bytes in message.
+          break;
+        case 9:
+          if (c==0xef) {
+            // Message finished
+          }
+          break;
+        default:
+          break;
+      }
+      if (ok)
+        _inputIndex++;  // character as expected, so increment index
+      else
+        _inputIndex = 0;  // otherwise reset.
+    }
+  }
+
+  // Send any commands that need to be sent
+  void processOutgoing(unsigned long currentMicros) {
+
    // When two commands are sent in quick succession, the device will often fail to 
    // execute one.  Testing has indicated that a delay of 100ms or more is required
    // between successive commands to get reliable operation.
    // If 100ms has elapsed since the last thing sent, then check if there's some output to do.
-    if (currentMicros - _commandSendTime > 100000UL) {
+    if (((int32_t)currentMicros - _commandSendTime) > 100000) {
      if (_currentVolume > _requestedVolumeLevel) {
        // Change volume before changing song if volume is reducing.
        _currentVolume = _requestedVolumeLevel;
        sendPacket(0x06, _currentVolume);
-        _commandSendTime = currentMicros;
      } else if (_requestedSong > 0) {
        // Change song
        sendPacket(0x03, _requestedSong);
        _requestedSong = -1;
-        _commandSendTime = currentMicros;
      } else if (_requestedSong == 0) {
-        sendPacket(0x0e);  // Pause playing
+        sendPacket(0x16);  // Stop playing
        _requestedSong = -1;
-        _commandSendTime = currentMicros;
      } else if (_currentVolume < _requestedVolumeLevel) {
        // Change volume after changing song if volume is increasing.
        _currentVolume = _requestedVolumeLevel;
        sendPacket(0x06, _currentVolume);
-        _commandSendTime = currentMicros;
+      } else if ((int32_t)currentMicros - _commandSendTime > 1000000) {
+        // Poll device every second that other commands aren't being sent,
+        // to check if it's still connected and responding.
+        sendPacket(0x42); 
+        if (!_awaitingResponse) {
+          _timeoutTime = currentMicros + 5000000UL;  // Timeout if no response within 5 seconds
+          _awaitingResponse = true;
+        }
      }
    }
-    delayUntil(currentMicros + 10000); // Only enter every 10ms
  }

  // Write with value 1 starts playing a song.  The relative pin number is the file number.
  // Write with value 0 stops playing.
  void _write(VPIN vpin, int value) override {
+    if (_deviceState == DEVSTATE_FAILED) return;
    int pin = vpin - _firstVpin;
    if (value) {
      // Value 1, start playing
@@ -200,10 +267,11 @@ protected:
  // WriteAnalogue on second pin sets the output volume.
  //
  void _writeAnalogue(VPIN vpin, int value, uint8_t volume=0, uint16_t=0) override { 
+    if (_deviceState == DEVSTATE_FAILED) return;
    uint8_t pin = vpin - _firstVpin;
 
    #ifdef DIAG_IO
-    DIAG(F("DFPlayer: VPIN:%d FileNo:%d Volume:%d"), vpin, value, volume);
+    DIAG(F("DFPlayer: VPIN:%u FileNo:%d Volume:%d"), vpin, value, volume);
    #endif

    // Validate parameter.
@@ -228,11 +296,12 @@ protected:

  // A read on any pin indicates whether the player is still playing.
  int _read(VPIN) override {
+    if (_deviceState == DEVSTATE_FAILED) return false;
    return _playing;
  }

  void _display() override {
-    DIAG(F("DFPlayer Configured on Vpins:%d-%d %S"), _firstVpin, _firstVpin+_nPins-1,
+    DIAG(F("DFPlayer Configured on Vpins:%u-%u %S"), _firstVpin, _firstVpin+_nPins-1,
      (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
  }
  
@@ -264,6 +333,8 @@ private:

    // Output the command
    _serial->write(out, sizeof(out));
+
+    _commandSendTime = micros();
  }

  uint16_t calcChecksum(uint8_t* packet)
--- a/IO_EXTurntable.h
+++ b/IO_EXTurntable.h
@@ -103,7 +103,7 @@ void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_
  uint8_t stepsMSB = value >> 8;
  uint8_t stepsLSB = value & 0xFF;
 #ifdef DIAG_IO
-  DIAG(F("EX-Turntable WriteAnalogue Vpin:%d Value:%d Activity:%d Duration:%d"),
+  DIAG(F("EX-Turntable WriteAnalogue VPIN:%u Value:%d Activity:%d Duration:%d"),
    vpin, value, activity, duration);
  DIAG(F("I2CManager write I2C Address:%d stepsMSB:%d stepsLSB:%d activity:%d"),
    _I2CAddress.toString(), stepsMSB, stepsLSB, activity);
@@ -114,7 +114,7 @@ void EXTurntable::_writeAnalogue(VPIN vpin, int value, uint8_t activity, uint16_

 // Display Turnetable-EX device driver info.
 void EXTurntable::_display() {
-  DIAG(F("EX-Turntable I2C:%s Configured on Vpins:%d-%d %S"), _I2CAddress.toString(), (int)_firstVpin, 
+  DIAG(F("EX-Turntable I2C:%s Configured on Vpins:%u-%u %S"), _I2CAddress.toString(), (int)_firstVpin, 
    (int)_firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
 }

--- a/IO_ExampleSerial.h
+++ b/IO_ExampleSerial.h
@@ -84,7 +84,7 @@ protected:
  void _write(VPIN vpin, int value) {
    int pin = vpin -_firstVpin;
    #ifdef DIAG_IO
-    DIAG(F("IO_ExampleSerial::_write Pin:%d Value:%d"), (int)vpin, value);
+    DIAG(F("IO_ExampleSerial::_write VPIN:%u Value:%d"), (int)vpin, value);
    #endif
    // Send a command string over the serial line
    _serial->print('#');
@@ -153,10 +153,10 @@ protected:
  // Display information about the device, and perhaps its current condition (e.g. active, disabled etc).
  // Here we display the current values held for the pins.
  void _display() {
-    DIAG(F("IO_ExampleSerial Configured on VPins:%d-%d"), (int)_firstVpin, 
+    DIAG(F("IO_ExampleSerial Configured on Vpins:%u-%u"), (int)_firstVpin, 
      (int)_firstVpin+_nPins-1);
    for (int i=0; i<_nPins; i++)
-      DIAG(F("  VPin %2d: %d"), _firstVpin+i, _pinValues[i]);
+      DIAG(F("  VPin %2u: %d"), _firstVpin+i, _pinValues[i]);
  }


--- a/IO_GPIOBase.h
+++ b/IO_GPIOBase.h
@@ -196,7 +196,7 @@ void GPIOBase<T>::_loop(unsigned long currentMicros) {

 template <class T>
 void GPIOBase<T>::_display() {
-  DIAG(F("%S I2C:%s Configured on Vpins:%d-%d %S"), _deviceName, _I2CAddress.toString(), 
+  DIAG(F("%S I2C:%s Configured on Vpins:%u-%u %S"), _deviceName, _I2CAddress.toString(), 
    _firstVpin, _firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
 }

--- a/IO_HCSR04.h
+++ b/IO_HCSR04.h
@@ -234,7 +234,7 @@ protected:
  }

  void _display() override {
-    DIAG(F("HCSR04 Configured on Vpin:%d TrigPin:%d EchoPin:%d On:%dcm Off:%dcm"),
+    DIAG(F("HCSR04 Configured on VPIN:%u TrigPin:%d EchoPin:%d On:%dcm Off:%dcm"),
      _firstVpin, _trigPin, _echoPin, _onThreshold, _offThreshold);
  }

--- a/IO_PCA9685.cpp
+++ b/IO_PCA9685.cpp
@@ -46,7 +46,7 @@ bool PCA9685::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, i
  if (configType != CONFIGURE_SERVO) return false;
  if (paramCount != 5) return false;
  #ifdef DIAG_IO
-  DIAG(F("PCA9685 Configure VPIN:%d Apos:%d Ipos:%d Profile:%d Duration:%d state:%d"), 
+  DIAG(F("PCA9685 Configure VPIN:%u Apos:%d Ipos:%d Profile:%d Duration:%d state:%d"), 
    vpin, params[0], params[1], params[2], params[3], params[4]);
  #endif

@@ -118,7 +118,7 @@ void PCA9685::_begin() {
 // For this function, the configured profile is used.
 void PCA9685::_write(VPIN vpin, int value) {
  #ifdef DIAG_IO
-  DIAG(F("PCA9685 Write Vpin:%d Value:%d"), vpin, value);
+  DIAG(F("PCA9685 Write VPIN:%u Value:%d"), vpin, value);
  #endif
  int pin = vpin - _firstVpin;
  if (value) value = 1;
@@ -145,7 +145,7 @@ void PCA9685::_write(VPIN vpin, int value) {
 //            
 void PCA9685::_writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) {
  #ifdef DIAG_IO
-  DIAG(F("PCA9685 WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d %S"), 
+  DIAG(F("PCA9685 WriteAnalogue VPIN:%u Value:%d Profile:%d Duration:%d %S"), 
    vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
  #endif
  if (_deviceState == DEVSTATE_FAILED) return;
@@ -262,7 +262,7 @@ void PCA9685::writeDevice(uint8_t pin, int value) {

 // Display details of this device.
 void PCA9685::_display() {
-  DIAG(F("PCA9685 I2C:%s Configured on Vpins:%d-%d %S"), _I2CAddress.toString(), (int)_firstVpin, 
+  DIAG(F("PCA9685 I2C:%s Configured on Vpins:%u-%u %S"), _I2CAddress.toString(), (int)_firstVpin, 
    (int)_firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
 }

--- a/IO_PCA9685pwm.h
+++ b/IO_PCA9685pwm.h
@@ -121,7 +121,7 @@ private:
  void _writeAnalogue(VPIN vpin, int value, uint8_t param1, uint16_t param2) override {
    (void)param1; (void)param2;  // suppress compiler warning
    #ifdef DIAG_IO
-    DIAG(F("PCA9685pwm WriteAnalogue Vpin:%d Value:%d %S"), 
+    DIAG(F("PCA9685pwm WriteAnalogue VPIN:%u Value:%d %S"), 
      vpin, value, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
    #endif
    if (_deviceState == DEVSTATE_FAILED) return;
@@ -134,7 +134,7 @@ private:

  // Display details of this device.
  void _display() override {
-    DIAG(F("PCA9685pwm I2C:%s Configured on Vpins:%d-%d %S"), _I2CAddress.toString(), (int)_firstVpin, 
+    DIAG(F("PCA9685pwm I2C:%s Configured on Vpins:%u-%u %S"), _I2CAddress.toString(), (int)_firstVpin, 
      (int)_firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
  }

--- a/IO_RotaryEncoder.h
+++ b/IO_RotaryEncoder.h
@@ -98,13 +98,14 @@ private:

  void _write(VPIN vpin, int value) override {
    if (vpin == _firstVpin + 1) {
-      byte _feedbackBuffer[2] = {RE_OP, value};
+      if (value != 0) value = 0x01;
+      byte _feedbackBuffer[2] = {RE_OP, (byte)value};
      I2CManager.write(_I2CAddress, _feedbackBuffer, 2);
    }
  }
  
  void _display() override {
-    DIAG(F("Rotary Encoder I2C:%s v%d.%d.%d Configured on Vpin:%d-%d %S"), _I2CAddress.toString(), _majorVer, _minorVer, _patchVer,
+    DIAG(F("Rotary Encoder I2C:%s v%d.%d.%d Configured on VPIN:%u-%d %S"), _I2CAddress.toString(), _majorVer, _minorVer, _patchVer,
      (int)_firstVpin, _firstVpin+_nPins-1, (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
  }

--- a/IO_Servo.h
+++ b/IO_Servo.h
@@ -98,7 +98,7 @@ private:
    if (configType != CONFIGURE_SERVO) return false;
    if (paramCount != 5) return false;
    #ifdef DIAG_IO
-    DIAG(F("Servo: Configure VPIN:%d Apos:%d Ipos:%d Profile:%d Duration:%d state:%d"), 
+    DIAG(F("Servo: Configure VPIN:%u Apos:%d Ipos:%d Profile:%d Duration:%d state:%d"), 
      vpin, params[0], params[1], params[2], params[3], params[4]);
    #endif

@@ -140,12 +140,12 @@ private:
    // Get reference to slave device.
    _slaveDevice = findDevice(_firstSlavePin);
    if (!_slaveDevice) {
-      DIAG(F("Servo: Slave device not found on pins %d-%d"), 
+      DIAG(F("Servo: Slave device not found on Vpins %u-%u"), 
        _firstSlavePin, _firstSlavePin+_nPins-1);
      _deviceState = DEVSTATE_FAILED;
    }      
    if (_slaveDevice != findDevice(_firstSlavePin+_nPins-1)) {
-      DIAG(F("Servo: Slave device does not cover all pins %d-%d"), 
+      DIAG(F("Servo: Slave device does not cover all Vpins %u-%u"), 
        _firstSlavePin, _firstSlavePin+_nPins-1);
      _deviceState = DEVSTATE_FAILED;
    }
@@ -165,7 +165,7 @@ private:
  void _write(VPIN vpin, int value) override {
    if (_deviceState == DEVSTATE_FAILED) return;
    #ifdef DIAG_IO
-    DIAG(F("Servo Write Vpin:%d Value:%d"), vpin, value);
+    DIAG(F("Servo Write VPIN:%u Value:%d"), vpin, value);
    #endif
    int pin = vpin - _firstVpin;
    if (value) value = 1;
@@ -193,7 +193,7 @@ private:
  //            
  void _writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) override {
    #ifdef DIAG_IO
-    DIAG(F("Servo: WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d %S"), 
+    DIAG(F("Servo: WriteAnalogue VPIN:%u Value:%d Profile:%d Duration:%d %S"), 
      vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
    #endif
    if (_deviceState == DEVSTATE_FAILED) return;
@@ -288,7 +288,7 @@ private:

  // Display details of this device.
  void _display() override {
-    DIAG(F("Servo Configured on Vpins:%d-%d, slave pins:%d-%d %S"),
+    DIAG(F("Servo Configured on Vpins:%u-%u, slave pins:%d-%d %S"),
      (int)_firstVpin, (int)_firstVpin+_nPins-1,
      (int)_firstSlavePin, (int)_firstSlavePin+_nPins-1,
      (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
--- a/IO_TouchKeypad.h
+++ b/IO_TouchKeypad.h
@@ -124,7 +124,7 @@ protected:

  // Display information about the device, and perhaps its current condition (e.g. active, disabled etc).
  void _display() {
-    DIAG(F("TouchKeypad Configured on VPins:%d-%d SCL=%d SDO=%d"), (int)_firstVpin, 
+    DIAG(F("TouchKeypad Configured on Vpins:%u-%u SCL=%d SDO=%d"), (int)_firstVpin, 
      (int)_firstVpin+_nPins-1, _clockPin, _dataPin);
  }

--- a/IO_VL53L0X.h
+++ b/IO_VL53L0X.h
@@ -319,7 +319,7 @@ protected:
  }

  void _display() override {
-    DIAG(F("VL53L0X I2C:%s Configured on Vpins:%d-%d On:%dmm Off:%dmm %S"),
+    DIAG(F("VL53L0X I2C:%s Configured on Vpins:%u-%u On:%dmm Off:%dmm %S"),
      _I2CAddress.toString(), _firstVpin, _firstVpin+_nPins-1, _onThreshold, _offThreshold,
      (_deviceState==DEVSTATE_FAILED) ? F("OFFLINE") : F(""));
  }
--- a/IO_duinoNodes.h
+++ b/IO_duinoNodes.h
@@ -55,6 +55,7 @@ public:
    pinMode(_clockPin,OUTPUT);
    pinMode(_dataPin,_pinMap?INPUT_PULLUP:OUTPUT);
    _display();
+    if (!_pinMap) _loopOutput();
  }

 // loop called by HAL supervisor 
@@ -121,7 +122,7 @@ void _loopOutput()  {
  }

  void _display() override {
-      DIAG(F("IO_duinoNodes %SPUT Configured on VPins:%d-%d shift=%d"), 
+      DIAG(F("IO_duinoNodes %SPUT Configured on Vpins:%u-%u shift=%d"), 
      _pinMap?F("IN"):F("OUT"),
      (int)_firstVpin, 
      (int)_firstVpin+_nPins-1, _nShiftBytes*8);
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -1,8 +1,8 @@
 /*
- *  © 2022 Paul M Antoine
+ *  © 2022-2023 Paul M Antoine
 *  © 2021 Mike S
 *  © 2021 Fred Decker
- *  © 2020-2022 Harald Barth
+ *  © 2020-2023 Harald Barth
 *  © 2020-2021 Chris Harlow
 *  All rights reserved.
 *  
@@ -27,10 +27,6 @@
 #include "DCCTimer.h"
 #include "DIAG.h"

-#if defined(ARDUINO_ARCH_ESP32)
-#include "ESP32-fixes.h"
-#endif
-
 bool MotorDriver::commonFaultPin=false;

 volatile portreg_t shadowPORTA;
@@ -38,7 +34,7 @@ volatile portreg_t shadowPORTB;
 volatile portreg_t shadowPORTC;

 MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
-                         byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
+                         byte current_pin, float sense_factor, unsigned int trip_milliamps, int8_t fault_pin) {
  powerPin=power_pin;
  invertPower=power_pin < 0;
  if (invertPower) {
@@ -112,6 +108,9 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i

  faultPin=fault_pin;
  if (faultPin != UNUSED_PIN) {
+    invertFault=fault_pin < 0;
+    faultPin=invertFault ? 0-fault_pin : fault_pin;
+    DIAG(F("Fault pin = %d invert %d"), faultPin, invertFault);
    getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin);
    pinMode(faultPin, INPUT);
  }
@@ -210,10 +209,17 @@ int MotorDriver::getCurrentRaw(bool fromISR) {
  (void)fromISR;
  if (currentPin==UNUSED_PIN) return 0; 
  int current;
-  current = ADCee::read(currentPin, fromISR)-senseOffset;
+  current = ADCee::read(currentPin, fromISR);
+  // here one can diag raw value
+  // if (fromISR == false) DIAG(F("%c: %d"), trackLetter, current);
+  current = current-senseOffset;     // adjust with offset
  if (current<0) current=0-current;
-  if ((faultPin != UNUSED_PIN)  && isLOW(fastFaultPin) && powerMode==POWERMODE::ON)
+  if ((faultPin != UNUSED_PIN) && powerMode==POWERMODE::ON) {
+    if (invertFault && isLOW(fastFaultPin))
      return (current == 0 ? -1 : -current);
+    if (!invertFault && !isLOW(fastFaultPin))
+      return (current == 0 ? -1 : -current);
+  }
  return current;
   
 }
@@ -283,7 +289,7 @@ void MotorDriver::setDCSignal(byte speedcode) {
 	f = taurustones[ (tSpeed-2)/2 ] ;
      }
    }
-    DCCEXanalogWriteFrequency(brakePin, f); // set DC PWM frequency to 100Hz XXX May move to setup
+    DCCTimer::DCCEXanalogWriteFrequency(brakePin, f); // set DC PWM frequency to 100Hz XXX May move to setup
  }
 #endif
  if (tSpeed <= 1) brake = 255;
@@ -292,7 +298,7 @@ void MotorDriver::setDCSignal(byte speedcode) {
  if (invertBrake)
    brake=255-brake;
 #if defined(ARDUINO_ARCH_ESP32)
-  DCCEXanalogWrite(brakePin,brake);
+  DCCTimer::DCCEXanalogWrite(brakePin,brake);
 #else
  analogWrite(brakePin,brake);
 #endif
--- a/MotorDriver.h
+++ b/MotorDriver.h
@@ -112,7 +112,7 @@ class MotorDriver {
  public:
    
    MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, 
-                byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
+                byte current_pin, float senseFactor, unsigned int tripMilliamps, int8_t fault_pin);
    void setPower( POWERMODE mode);
    POWERMODE getPower() { return powerMode;}
    // as the port registers can be shadowed to get syncronized DCC signals
@@ -202,6 +202,7 @@ class MotorDriver {
    bool dualSignal;       // true to use signalPin2
    bool invertBrake;       // brake pin passed as negative means pin is inverted
    bool invertPower;       // power pin passed as negative means pin is inverted
+    bool invertFault;       // fault pin passed as negative means pin is inverted
    
    // Raw to milliamp conversion factors avoiding float data types.
    // Milliamps=rawADCreading * sensefactorInternal / senseScale
--- a/MotorDrivers.h
+++ b/MotorDrivers.h
@@ -73,12 +73,16 @@
 #elif defined(ARDUINO_ARCH_ESP32)
 // STANDARD shield on an ESPDUINO-32 (ESP32 in Uno form factor). The shield must be eiter the
 // 3.3V compatible R3 version or it has to be modified to not supply more than 3.3V to the
-// analog inputs. Here we use analog inputs A4 and A5 as A0 and A1 are wired in a way so that
+// analog inputs. Here we use analog inputs A2 and A3 as A0 and A1 are wired in a way so that
 // they are not useable at the same time as WiFi (what a bummer). The numbers below are the
 // actual GPIO numbers. In comments the numbers the pins have on an Uno.
-#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"),                                                 \
-    new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 36/*A4*/, 0.70, 1500, UNUSED_PIN), \
-    new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 39/*A5*/, 0.70, 1500, UNUSED_PIN)
+#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
+ new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 0.70, 1500, UNUSED_PIN), \
+ new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 0.70, 1500, UNUSED_PIN)
+
+#define EX8874_SHIELD F("EX8874"),\
+ new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 1.17, 5000, -36 /*-A4*/), \
+ new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 1.17, 5000, -39 /*-A5*/)

 #else
 // STANDARD shield on any Arduino Uno or Mega compatible with the original specification.
@@ -116,6 +120,10 @@
   new MotorDriver(2, 7, UNUSED_PIN,  -9, A0, 10, 2500,  6), \
   new MotorDriver(4, 8, UNUSED_PIN, -10, A1, 10, 2500, 12)

+#define EX8874_SHIELD F("EX8874"), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 4.86, 5000, -A4), \
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 4.86, 5000, -A5)
+
 // Firebox Mk1
 #define FIREBOX_MK1 F("FIREBOX_MK1"),                                                  \
                    new MotorDriver(3, 6, 7, UNUSED_PIN, A5, 9.766, 5500, UNUSED_PIN), \
--- a/SerialManager.cpp
+++ b/SerialManager.cpp
@@ -87,6 +87,9 @@ void SerialManager::init() {
    delay(1000);
  }
 #endif
+#ifdef SABERTOOTH
+  Serial2.begin(9600, SERIAL_8N1, 16, 17); // GPIO 16 RXD2; GPIO 17 TXD2 on ESP32
+#endif
 }

 void SerialManager::broadcast(char * stringBuffer) {
--- a/config.h.txt
+++ b/config.h.txt
@@ -0,0 +1,169 @@
+/**********************************************************************
+
+Config.h
+COPYRIGHT (c) 2013-2016 Gregg E. Berman
+COPYRIGHT (c) 2020 Fred Decker
+
+The configuration file for DCC++ EX Command Station
+
+**********************************************************************/
+/////////////////////////////////////////////////////////////////////////////////////
+//  NOTE: Before connecting these boards and selecting one in this software
+//        check the quick install guides!!! Some of these boards require a voltage
+//        generating resitor on the current sense pin of the device. Failure to select
+//        the correct resistor could damage the sense pin on your Arduino or destroy
+//        the device.
+//
+// DEFINE MOTOR_SHIELD_TYPE BELOW ACCORDING TO THE FOLLOWING TABLE:
+//
+//  STANDARD_MOTOR_SHIELD : Arduino Motor shield Rev3 based on the L298 with 18V 2A per channel
+//  POLOLU_MOTOR_SHIELD   : Pololu MC33926 Motor Driver (not recommended for prog track)
+//  FUNDUMOTO_SHIELD      : Fundumoto Shield, no current sensing (not recommended, no short protection)
+//  FIREBOX_MK1           : The Firebox MK1                    
+//  FIREBOX_MK1S          : The Firebox MK1S    
+//   |
+//   +-----------------------v
+//
+// #define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"),                                              
+//                               new MotorDriver(3, 12, UNUSED_PIN, 9, A0, 0.488, 1500, UNUSED_PIN),
+//                               new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 0.488, 1500, UNUSED_PIN)
+
+#define MOTOR_SHIELD_TYPE STANDARD_MOTOR_SHIELD
+
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// The IP port to talk to a WIFI or Ethernet shield.
+//
+#define IP_PORT 2560
+
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// NOTE: Only supported on Arduino Mega
+// Set to false if you not even want it on the Arduino Mega
+//
+//#define ENABLE_WIFI true
+
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// DEFINE WiFi Parameters (only in effect if WIFI is on)
+//
+// If DONT_TOUCH_WIFI_CONF is set, all WIFI config will be done with
+// the <+> commands and this sketch will not change anything over
+// AT commands and the other WIFI_* defines below do not have any effect.
+//#define DONT_TOUCH_WIFI_CONF
+//
+// WIFI_SSID is the network name IF you want to use your existing home network.
+// Do NOT change this if you want to use the WiFi in Access Point (AP) mode. 
+//
+// If you do NOT set the WIFI_SSID, the WiFi chip will first try
+// to connect to the previously configured network and if that fails
+// fall back to Access Point mode. The SSID of the AP will be
+// automatically set to DCCEX_*.
+//
+// Your SSID may not conain ``"'' (double quote, ASCII 0x22).
+#define WIFI_SSID "Your network name"
+//
+// WIFI_PASSWORD is the network password for your home network or if
+// you want to change the password from default AP mode password
+// to the AP password you want. 
+// Your password may not conain ``"'' (double quote, ASCII 0x22).
+#define WIFI_PASSWORD "deadcafe"
+//
+// WIFI_HOSTNAME: You probably don't need to change this
+#define WIFI_HOSTNAME "dccex"
+//
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// Wifi connect timeout in milliseconds. Default is 14000 (14 seconds). You only need
+// to set this if you have an extremely slow Wifi router.
+//
+#define WIFI_CONNECT_TIMEOUT 14000
+
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// ENABLE_ETHERNET: Set to true if you have an Arduino Ethernet card (wired). This
+// is not for Wifi. You will then need the Arduino Ethernet library as well
+//
+//#define ENABLE_ETHERNET true
+
+
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// DEFINE STATIC IP ADDRESS *OR* COMMENT OUT TO USE DHCP
+//
+//#define IP_ADDRESS { 192, 168, 1, 31 }
+
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// DEFINE MAC ADDRESS ARRAY FOR ETHERNET COMMUNICATIONS INTERFACE
+//
+// Uncomment to use with Ethernet Shields
+//
+// Ethernet Shields do not have have a MAC address in hardware. There may be one on 
+// a sticker on the Shield that you should use. Otherwise choose one of the ones below
+// Be certain that no other device on your network has this same MAC address!
+//
+// 52:b8:8a:8e:ce:21
+// e3:e9:73:e1:db:0d
+// 54:2b:13:52:ac:0c
+
+// NOTE: This is not used with ESP8266 WiFi modules.
+
+//#define MAC_ADDRESS { 0x52, 0xB8, 0x8A, 0x8E, 0xCE, 0x21 }      // MAC address of your networking card found on the sticker on your card or take one from above
+
+// 
+// #define MAC_ADDRESS {  0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xEF }
+
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// DEFINE LCD SCREEN USAGE BY THE BASE STATION
+//
+// Note: This feature requires an I2C enabled LCD screen using a Hitachi  HD44780
+//       controller and a PCF8574 based I2C 'backpack',
+//       OR an I2C Oled screen based on SSD1306 (128x64 or 128x32) controller,
+//       OR an I2C Oled screen based on SH1106 (132x64) controller.
+// To enable, uncomment one of the lines below
+
+// define LCD_DRIVER for I2C LCD address 0x3f,16 cols, 2 rows
+//#define LCD_DRIVER  {SubBus_4,0x27},20,4
+
+//OR define OLED_DRIVER width,height in pixels (address auto detected) 
+#if defined(ARDUINO_ARCH_STM32) 
+#define OLED_DRIVER 0x3c, 128, 64
+#else
+#define OLED_DRIVER {SubBus_0,0x3c}, 128, 32
+#endif
+
+#define SCROLLMODE 1
+
+/////////////////////////////////////////////////////////////////////////////////////
+// DISABLE EEPROM
+//
+// If you do not need the EEPROM at all, you can disable all the code that saves
+// data in the EEPROM. You might want to do that if you are in a Arduino UNO
+// and want to use the EX-RAIL automation. Otherwise you do not have enough RAM
+// to do that. Of course, then none of the EEPROM related commands work.
+//
+#define DISABLE_EEPROM
+
+
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// DEFINE TURNOUTS/ACCESSORIES FOLLOW NORM RCN-213
+//
+// According to norm RCN-213 a DCC packet with a 1 is closed/straight
+// and one with a 0 is thrown/diverging.  In DCC++ Classic, and in previous
+// versions of DCC++EX, a turnout throw command was implemented in the packet as 
+// '1' and a close command as '0'. The #define below makes the states
+// match with the norm.  But we don't want to cause havoc on existent layouts,
+// so we define this only for new installations. If you don't want this,
+// don't add it to your config.h.
+//#define DCC_TURNOUTS_RCN_213
+
+// The following #define likewise inverts the behaviour of the <a> command 
+// for triggering DCC Accessory Decoders, so that <a addr subaddr 0> generates a 
+// DCC packet with D=1 (close turnout) and <a addr subaddr 1> generates D=0 
+// (throw turnout).
+//#define DCC_ACCESSORY_RCN_213
+
+/////////////////////////////////////////////////////////////////////////////////////
--- a/install_via_powershell.cmd
+++ b/install_via_powershell.cmd
@@ -0,0 +1,13 @@
+@ECHO OFF
+
+FOR /f "tokens=*" %%a IN ('powershell Get-ExecutionPolicy -Scope CurrentUser') DO SET PS_POLICY=%%a
+
+IF NOT %PS_POLICY=="Bypass" (
+  powershell Set-ExecutionPolicy -Scope CurrentUser Bypass
+)
+
+powershell %~dp0%installer.ps1
+
+IF NOT %PS_POLICY=="Bypass" (
+  powershell Set-ExecutionPolicy -Scope CurrentUser %PS_POLICY%
+)
--- a/installer.ps1
+++ b/installer.ps1
@@ -0,0 +1,540 @@
+<#
+# © 2023 Peter Cole
+# 
+# This file is part of EX-CommandStation
+#
+# This is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# It is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+#>
+
+<############################################
+For script errors set ExecutionPolicy:
+Set-ExecutionPolicy -Scope CurrentUser -ExecutionPolicy Bypass
+############################################>
+
+<############################################
+Optional command line parameters:
+  $buildDirectory - specify an existing directory rather than generating a new unique one
+  $configDirectory - specify a directory containing existing files as per $configFiles
+############################################>
+Param(
+  [Parameter()]
+  [String]$buildDirectory,
+  [Parameter()]
+  [String]$configDirectory
+)
+
+<############################################
+Define global parameters here such as known URLs etc.
+############################################>
+$installerVersion = "v0.0.8"
+$configFiles = @("config.h", "myAutomation.h", "myHal.cpp", "mySetup.h")
+$wifiBoards = @("arduino:avr:mega", "esp32:esp32:esp32")
+$userDirectory = $env:USERPROFILE + "\"
+$gitHubAPITags = "https://api.github.com/repos/DCC-EX/CommandStation-EX/git/refs/tags"
+$gitHubURLPrefix = "https://github.com/DCC-EX/CommandStation-EX/archive/"
+if ((Get-WmiObject win32_operatingsystem | Select-Object osarchitecture).osarchitecture -eq "64-bit") {
+  $arduinoCLIURL = "https://downloads.arduino.cc/arduino-cli/arduino-cli_latest_Windows_64bit.zip"
+  $arduinoCLIZip = $userDirectory + "Downloads\" + "arduino-cli_latest_Windows_64bit.zip"
+} else {
+  $arduinoCLIURL = "https://downloads.arduino.cc/arduino-cli/arduino-cli_latest_Windows_32bit.zip"
+  $arduinoCLIZip = $userDirectory + "Downloads\" + "arduino-cli_latest_Windows_32bit.zip"
+}
+$arduinoCLIDirectory = $userDirectory + "arduino-cli"
+$arduinoCLI = $arduinoCLIDirectory + "\arduino-cli.exe"
+
+<############################################
+List of supported devices with FQBN in case clones used that aren't detected
+############################################>
+$supportedDevices = @(
+  @{
+    name = "Arduino Mega or Mega 2560"
+    fqbn = "arduino:avr:mega"
+  },
+  @{
+    name = "Arduino Nano"
+    fqbn = "arduino:avr:nano"
+  },
+  @{
+    name = "Arduino Uno"
+    fqbn = "arduino:avr:uno"
+  },
+  @{
+    name = "ESP32 Dev Module"
+    fqbn = "esp32:esp32:esp32"
+  }
+)
+
+<############################################
+List of supported displays
+############################################>
+$displayList = @(
+  @{
+    option = "LCD 16 columns x 2 rows"
+    configLine = "#define LCD_DRIVER  0x27,16,2"
+  },
+  @{
+    option = "LCD 16 columns x 4 rows"
+    configLine = "#define LCD_DRIVER  0x27,16,4"
+  },
+  @{
+    option = "OLED 128 x 32"
+    configLine = "#define OLED_DRIVER 128,32"
+  },
+  @{
+    option = "OLED 128 x 64"
+    configLine = "#define OLED_DRIVER 128,64"
+  }
+)
+
+<############################################
+Basics of config.h
+############################################>
+$configLines = @(
+  "/*",
+  "This config.h file was generated by the DCC-EX PowerShell installer $installerVersion",
+  "*/",
+  "",
+  "// Define standard motor shield",
+  "#define MOTOR_SHIELD_TYPE STANDARD_MOTOR_SHIELD",
+  ""
+)
+
+<############################################
+Set default action for progress indicators, warnings, and errors
+############################################>
+$global:ProgressPreference = "SilentlyContinue"
+$global:WarningPreference = "SilentlyContinue"
+$global:ErrorActionPreference = "SilentlyContinue"
+
+<############################################
+If $buildDirectory not provided, generate a new time/date stamp based directory to use
+############################################>
+if (!$PSBoundParameters.ContainsKey('buildDirectory')) {
+  $buildDate = Get-Date -Format 'yyyyMMdd-HHmmss'
+  $buildDirectory = $userDirectory + "EX-CommandStation-Installer\" + $buildDate
+}
+$commandStationDirectory = $buildDirectory + "\CommandStation-EX"
+
+<############################################
+Write out intro message and prompt to continue
+############################################>
+@"
+Welcome to the DCC-EX PowerShell installer for EX-CommandStation ($installerVersion)
+
+Current installer options:
+
+- EX-CommandStation will be built in $commandStationDirectory
+- Arduino CLI will downloaded and extracted to $arduinoCLIDirectory
+
+Before continuing, please ensure:
+
+- Your computer is connected to the internet
+- The device you wish to install EX-CommandStation on is connected to a USB port
+
+This installer will obtain the Arduino CLI (if not already present), and then download and install your chosen version of EX-CommandStation
+
+"@
+
+<############################################
+Prompt user to confirm all is ready to proceed
+############################################>
+$confirmation = Read-Host "Enter 'Y' or 'y' then press <Enter> to confirm you are ready to proceed, any other key to exit"
+if ($confirmation -ne "Y" -and $confirmation -ne "y") {
+  Exit
+}
+
+<############################################
+See if we have the Arduino CLI already, otherwise download and extract it
+############################################>
+if (!(Test-Path -PathType Leaf -Path $arduinoCLI)) {
+  if (!(Test-Path -PathType Container -Path $arduinoCLIDirectory)) {
+    try {
+      New-Item -ItemType Directory -Path $arduinoCLIDirectory | Out-Null
+    }
+    catch {
+      Write-Output "Arduino CLI does not exist and cannot create directory $arduinoCLIDirectory"
+      Exit
+    }
+  }
+  Write-Output "`r`nDownloading and extracting Arduino CLI"
+  try {
+    Invoke-WebRequest -Uri $arduinoCLIURL -OutFile $arduinoCLIZip
+  }
+  catch {
+    Write-Output "Failed to download Arduino CLI"
+    Exit
+  }
+  try {
+    Expand-Archive -Path $arduinoCLIZip -DestinationPath $arduinoCLIDirectory -Force
+  }
+  catch {
+    Write-Output "Failed to extract Arduino CLI"
+  }
+} else {
+  Write-Output "`r`nArduino CLI already downloaded, ensuring it is up to date and you have a board connected"
+}
+
+<############################################
+Make sure Arduino CLI core index updated and list of boards populated
+############################################>
+# Need to do an initial board list to download everything first
+try {
+  & $arduinoCLI core update-index | Out-Null
+}
+catch {
+  Write-Output "Failed to update Arduino CLI core index"
+  Exit
+}
+# Need to do an initial board list to download everything first
+try {
+  & $arduinoCLI board list | Out-Null
+}
+catch {
+  Write-Output "Failed to update Arduino CLI board list"
+  Exit
+}
+
+<############################################
+Identify available board(s)
+############################################>
+try {
+  $boardList = & $arduinoCLI board list --format jsonmini | ConvertFrom-Json
+}
+catch {
+  Write-Output "Failed to obtain list of boards"
+  Exit
+}
+
+<############################################
+Get user to select board
+############################################>
+if ($boardList.count -eq 0) {
+  Write-Output "Could not find any attached devices, please ensure your device is plugged in to a USB port and Windows recognises it"
+  Exit
+} else {
+@"
+
+Devices attached to COM ports:
+------------------------------
+"@
+
+  $boardSelect = 1
+  foreach ($board in $boardList) {
+    if ($board.matching_boards.name) {
+      $boardName = $board.matching_boards.name
+    } else {
+      $boardName = "Unknown device"
+    }
+    $port = $board.port.address
+    Write-Output "$boardSelect - $boardName on port $port"
+    $boardSelect++
+  }
+  Write-Output "$boardSelect - Exit"
+  $userSelection = 0
+  do {
+    [int]$userSelection = Read-Host "`r`nSelect the device to use from the list above"
+  } until (
+    (($userSelection -ge 1) -and ($userSelection -le ($boardList.count + 1)))
+  )
+  if ($userSelection -eq ($boardList.count + 1)) {
+    Write-Output "Exiting installer"
+    Exit
+  } else {
+    $selectedBoard = $userSelection - 1
+  }
+}
+
+<############################################
+If the board is unknown, need to choose which one
+############################################>
+if ($null -eq $boardList[$selectedBoard].matching_boards.name) {
+  Write-Output "The device selected is unknown, these boards are supported:`r`n"
+  $deviceSelect = 1
+  foreach ($device in $supportedDevices) {
+    Write-Output "$deviceSelect - $($supportedDevices[$deviceSelect - 1].name)"
+    $deviceSelect++
+  }
+  Write-Output "$deviceSelect - Exit"
+  $userSelection = 0
+  do {
+    [int]$userSelection = Read-Host "Select the board type from the list above"
+  } until (
+    (($userSelection -ge 1) -and ($userSelection -le ($supportedDevices.count + 1)))
+  )
+  if ($userSelection -eq ($supportedDevices.count + 1)) {
+    Write-Output "Exiting installer"
+    Exit
+  } else {
+    $deviceName = $supportedDevices[$userSelection - 1].name
+    $deviceFQBN = $supportedDevices[$userSelection - 1].fqbn
+    $devicePort = $boardList[$selectedBoard].port.address
+  }
+} else {
+  $deviceName = $boardList[$selectedBoard].matching_boards.name
+  $deviceFQBN = $boardList[$selectedBoard].matching_boards.fqbn
+  $devicePort = $boardList[$selectedBoard].port.address
+}
+
+<############################################
+Get the list of tags
+############################################>
+try {
+  $gitHubTags = Invoke-RestMethod -Uri $gitHubAPITags
+}
+catch {
+  Write-Output "Failed to obtain list of available EX-CommandStation versions"
+  Exit
+}
+
+<############################################
+Get our GitHub tag list in a hash so we can sort by version numbers and extract just the ones we want
+############################################>
+$versionMatch = ".*?v(\d+)\.(\d+).(\d+)-(.*)"
+$tagList = @{}
+foreach ($tag in $gitHubTags) {
+  $tagHash = @{}
+  $tagHash["Ref"] = $tag.ref
+  $version = $tag.ref.split("/")[2]
+  $null = $version -match $versionMatch
+  $tagHash["Major"] = [int]$Matches[1]
+  $tagHash["Minor"] = [int]$Matches[2]
+  $tagHash["Patch"] = [int]$Matches[3]
+  $tagHash["Type"] = $Matches[4]
+  $tagList.Add($version, $tagHash)
+}
+
+<############################################
+Get latest two Prod and Devel for user to select
+############################################>
+$userList = @{}
+$prodCount = 1
+$devCount = 1
+$select = 1
+foreach ($tag in $tagList.Keys | Sort-Object {$tagList[$_]["Major"]},{$tagList[$_]["Minor"]},{$tagList[$_]["Patch"]} -Descending) {
+  if (($tagList[$tag]["Type"] -eq "Prod") -and $prodCount -le 2) {
+    $userList[$select] = $tag
+    $select++
+    $prodCount++
+  } elseif (($tagList[$tag]["Type"] -eq "Devel") -and $devCount -le 2) {
+    $userList[$select] = $tag
+    $select++
+    $devCount++
+  }
+}
+
+<############################################
+Display options for user to select and get the selection
+############################################>
+@"
+
+Available EX-CommandStation versions:
+-------------------------------------
+"@
+foreach ($selection in $userList.Keys | Sort-Object $selection) {
+  Write-Output "$selection - $($userList[$selection])"
+}
+Write-Output "5 - Exit"
+$userSelection = 0
+do {
+  [int]$userSelection = Read-Host "`r`nSelect the version to install from the list above (1 - 5)"
+} until (
+  (($userSelection -ge 1) -and ($userSelection -le 5))
+)
+if ($userSelection -eq 5) {
+  Write-Output "Exiting installer"
+  Exit
+} else {
+  $downloadURL = $gitHubURLPrefix + $tagList[$userList[$userSelection]]["Ref"] + ".zip"
+}
+
+<############################################
+Create build directory if it doesn't exist, or fail
+############################################>
+if (!(Test-Path -PathType Container -Path $buildDirectory)) {
+  try {
+    New-Item -ItemType Directory -Path $buildDirectory | Out-Null
+  }
+  catch {
+    Write-Output "Could not create build directory $buildDirectory"
+    Exit
+  }
+}
+
+<############################################
+Download the chosen version to the build directory
+############################################>
+$downladFile = $buildDirectory + "\CommandStation-EX.zip"
+Write-Output "Downloading and extracting $($userList[$userSelection])"
+try {
+  Invoke-WebRequest -Uri $downloadURL -OutFile $downladFile
+}
+catch {
+  Write-Output "Error downloading EX-CommandStation zip file"
+  Exit
+}
+
+<############################################
+If folder exists, bail out and tell user
+############################################>
+if (Test-Path -PathType Container -Path "$buildDirectory\CommandStation-EX") {
+  Write-Output "EX-CommandStation directory already exists, please ensure you have copied any user files then delete manually: $buildDirectory\CommandStation-EX"
+  Exit
+}
+
+<############################################
+Extract and rename to CommandStation-EX to allow building
+############################################>
+try {
+  Expand-Archive -Path $downladFile -DestinationPath $buildDirectory -Force
+}
+catch {
+  Write-Output "Failed to extract EX-CommandStation zip file"
+  Exit
+}
+
+$folderName = $buildDirectory + "\CommandStation-EX-" + ($userList[$userSelection] -replace "^v", "")
+try {
+  Rename-Item -Path $folderName -NewName $commandStationDirectory
+}
+catch {
+  Write-Output "Could not rename folder"
+  Exit
+}
+
+<############################################
+If config directory provided, copy files here
+############################################>
+if ($PSBoundParameters.ContainsKey('configDirectory')) {
+  if (Test-Path -PathType Container -Path $configDirectory) {
+    foreach ($file in $configFiles) {
+      if (Test-Path -PathType Leaf -Path "$configDirectory\$file") {
+        Copy-Item -Path "$configDirectory\$file" -Destination "$commandStationDirectory\$file"
+      }
+    }
+  } else {
+    Write-Output "User provided configuration directory $configDirectory does not exist, skipping"
+  }
+} else {
+
+<############################################
+If no config directory provided, prompt for display option
+############################################>
+  Write-Output "`r`nIf you have an LCD or OLED display connected, you can configure it here`r`n"
+  Write-Output "1 - I have no display, skip this step"
+  $displaySelect = 2
+  foreach ($display in $displayList) {
+    Write-Output "$displaySelect - $($displayList[$displaySelect - 2].option)"
+    $displaySelect++
+  }
+  Write-Output "$($displayList.Count + 2) - Exit"
+  do {
+    [int]$displayChoice = Read-Host "`r`nSelect a display option"
+  } until (
+    ($displayChoice -ge 1 -and $displayChoice -le ($displayList.Count + 2))
+  )
+  if ($displayChoice -eq ($displayList.Count + 2)) {
+    Exit
+  } elseif ($displayChoice -ge 2) {
+    $configLines+= "// Display configuration"
+    $configLines+= "$($displayList[$displayChoice - 2].configLine)"
+    $configLines+= "#define SCROLLMODE 1 // Alternate between pages"
+  }
+<############################################
+If device supports WiFi, prompt to configure
+############################################>
+  if ($wifiBoards.Contains($deviceFQBN)) {
+    Write-Output "`r`nYour chosen board supports WiFi`r`n"
+    Write-Output "1 - I don't want WiFi, skip this step
+2 - Configure my device as an access point I will connect to directly
+3 - Configure my device to connect to my home WiFi network
+4 - Exit"
+    do {
+      [int]$wifiChoice = Read-Host "`r`nSelect a WiFi option"
+    } until (
+      ($wifiChoice -ge 1 -and $wifiChoice -le 4)
+    )
+    if ($wifiChoice -eq 4) {
+      Exit
+    } elseif ($wifiChoice -ne 1) {
+      $configLines+= ""
+      $configLines+= "// WiFi configuration"
+      $configLines+= "#define ENABLE_WIFI true"
+      $configLines+= "#define IP_PORT 2560"
+      $configLines+= "#define WIFI_HOSTNAME ""dccex"""
+      $configLines+= "#define WIFI_CHANNEL 1"
+      if ($wifiChoice -eq 2) {
+        $configLines+= "#define WIFI_SSID ""Your network name"""
+        $configLines+= "#define WIFI_PASSWORD ""Your network passwd"""
+      }
+      if ($wifiChoice -eq 3) {
+        $wifiSSID = Read-Host "Please enter the SSID of your home network here"
+        $wifiPassword = Read-Host "Please enter your home network WiFi password here"
+        $configLines+= "#define WIFI_SSID ""$($wifiSSID)"""
+        $configLines+= "#define WIFI_PASSWORD ""$($wifiPassword)"""
+      }
+    }
+  }
+
+<############################################
+Write out config.h to a file here only if config directory not provided
+############################################>
+  $configH = $commandStationDirectory + "\config.h"
+  try {
+    $configLines | Out-File -FilePath $configH -Encoding ascii
+  }
+  catch {
+    Write-Output "Error writing config file to $configH"
+    Exit
+  }
+}
+
+<############################################
+Install core libraries for the platform
+############################################>
+$platformArray = $deviceFQBN.split(":")
+$platform = $platformArray[0] + ":" + $platformArray[1]
+try {
+  & $arduinoCLI core install $platform
+}
+catch {
+  Write-Output "Error install core libraries"
+  Exit
+}
+
+<############################################
+Upload the sketch to the selected board
+############################################>
+#$arduinoCLI upload -b fqbn -p port $commandStationDirectory
+Write-Output "Compiling and uploading to $deviceName on $devicePort"
+try {
+  $output = & $arduinoCLI compile -b $deviceFQBN -u -t -p $devicePort $commandStationDirectory --format jsonmini | ConvertFrom-Json
+}
+catch {
+  Write-Output "Failed to compile"
+  Exit
+}
+if ($output.success -eq "True") {
+  Write-Output "`r`nCongratulations! DCC-EX EX-CommandStation $($userList[$userSelection]) has been installed on your $deviceName`r`n"
+} else {
+  Write-Output "`r`nThere was an error installing $($userList[$userSelection]) on your $($deviceName), please take note of the errors provided:`r`n"
+  if ($null -ne $output.compiler_err) {
+    Write-Output "Compiler error: $($output.compiler_err)`r`n"
+  }
+  if ($null -ne $output.builder_result) {
+    Write-Output "Builder result: $($output.builder_result)`r`n"
+  }
+}
+
+Write-Output "`r`nPress any key to exit the installer"
+[void][System.Console]::ReadKey($true)
--- a/installer.sh
+++ b/installer.sh
@@ -69,10 +69,10 @@ else
    # need to do this config better
    cp -p config.example.h config.h
 fi
-need curl
 if test -x "$ACLI" ; then
    : all well
 else
+    need curl
    curl "$ACLIINSTALL" > acliinstall.sh
    chmod +x acliinstall.sh
    ./acliinstall.sh
--- a/myHal.cpp.txt
+++ b/myHal.cpp.txt
@@ -0,0 +1,465 @@
+#include "defines.h"
+#include "IODevice.h"
+
+#ifndef IO_NO_HAL
+
+#include "IO_VL53L0X.h"
+#include "IO_HCSR04.h"
+#include "Sensors.h"
+#include "Turnouts.h"
+#include "IO_DFPlayer.h"
+//#include "IO_Wire.h"
+#include "IO_AnalogueInputs.h"
+#if __has_include("IO_Servo.h")
+#include "IO_Servo.h"
+#include "IO_PCA9685pwm.h"
+#endif
+
+#include "IO_HALDisplay.h"
+#include "LiquidCrystal_I2C.h"
+
+#if __has_include("IO_CMRI.h")
+#include "IO_CMRI.h"
+#endif
+
+//#include "IO_ExampleSerial.h"
+
+//#include "IO_EXFastclock.h"
+//#include "IO_EXTurntable.h"
+
+#if __has_include("IO_ExternalEEPROM.h")
+#include "IO_ExternalEEPROM.h"
+#endif
+
+#if __has_include("IO_Network.h")
+#include "IO_Network.h"
+#include "Net_RF24.h"
+#include "Net_ENC28J60.h"
+#include "Net_Ethernet.h"
+#define NETWORK_PRESENT
+#endif
+
+#include "IO_TouchKeypad.h"
+
+#define WIRE_TEST 0
+#define TESTHARNESS 1
+#define I2C_STRESS_TEST 0
+#define I2C_SETCLOCK 0
+
+#include "DCC.h"
+
+
+#if 0 // Long Strings
+#define s10 "0123456789"
+#define s100 s10 s10 s10 s10 s10 s10 s10 s10 s10 s10
+#define s1k s100 s100 s100 s100 s100 s100 s100 s100 s100 s100
+#define s10k s1k s1k s1k s1k s1k s1k s1k s1k s1k s1k
+#define s32k s10k s10k s10k s1k s1k
+volatile const char PROGMEM ss1[] = s32k;
+#endif
+
+
+#if TESTHARNESS
+
+// Function to be invoked by test harness
+void myTest() {
+  // DIAG(F("VL53L0X #1 Test: dist=%d signal=%d ambient=%d value=%d"), 
+  //   IODevice::readAnalogue(5000),
+  //   IODevice::readAnalogue(5001),
+  //   IODevice::readAnalogue(5002),
+  //   IODevice::read(5000));
+  // DIAG(F("VL53L0X #2 Test: dist=%d signal=%d ambient=%d value=%d"), 
+  //   IODevice::readAnalogue(5003),
+  //   IODevice::readAnalogue(5004),
+  //   IODevice::readAnalogue(5005),
+  //   IODevice::read(5003));
+  // DIAG(F("HCSR04 Test: dist=%d value=%d"),
+  //   IODevice::readAnalogue(2000),
+  //   IODevice::read(2000));
+  // DIAG(F("ADS111x Test: %d %d %d %d %d"), 
+  //   IODevice::readAnalogue(4500), 
+  //   IODevice::readAnalogue(4501),
+  //   IODevice::readAnalogue(4502),
+  //   IODevice::readAnalogue(4503),
+  //   IODevice::readAnalogue(A5)
+  // );
+  // DIAG(F("RF24 Test: 4000:%d 4002:%d"), 
+  //   IODevice::read(4000), 
+  //   IODevice::read(4002)
+  // );
+  DIAG(F("EXPANDER: 2212:%d 2213:%d 2214:%d"),
+    IODevice::readAnalogue(2212), 
+    IODevice::readAnalogue(2213),
+    IODevice::readAnalogue(2214));
+}
+#endif
+
+#if I2C_STRESS_TEST
+static bool initialised = false;
+static uint8_t lastStatus = 0;
+static const int nRBs = 3; // request blocks concurrently
+static const int I2cTestPeriod = 1; // milliseconds
+static I2CAddress testDevice = {SubBus_6, 0x27};
+static I2CRB rb[nRBs];
+static uint8_t readBuffer[nRBs*32]; // nRB x 32-byte input buffer
+static uint8_t writeBuffer[nRBs];  // nRB x 1-byte output buffer
+static unsigned long count = 0;
+static unsigned long errors = 0;
+static unsigned long lastOutput = millis();
+
+void I2CTest() {
+  if (!initialised) {
+    // I2C Loading for stress test.
+    // Write value then read back 32 times
+    for (int i=0; i<nRBs; i++) {
+      writeBuffer[i] = (0xc5 ^ i ^ i<<3 ^ i<<6) & ~0x08; // bit corresponding to 08 is hard-wired low
+      rb[i].setRequestParams(testDevice, &readBuffer[i*32], 32, 
+        &writeBuffer[i], 1);
+      I2CManager.queueRequest(&rb[i]);
+    }
+    initialised = true;
+  }
+
+  for (int i=0; i<nRBs; i++) {
+    if (!rb[i].isBusy()) {
+      count++;
+      uint8_t status = rb[i].status;
+      if (status != lastStatus) {
+        DIAG(F("I2CTest: status=%d (%S)"), 
+          (int)status, I2CManager.getErrorMessage(status));
+        lastStatus = status; 
+      }
+      if (status == I2C_STATUS_OK) {
+        bool diff = false;
+        // Check contents of response
+        for (uint8_t j=0; j<32; j++) {
+          if (readBuffer[i*32+j] != writeBuffer[i]) {
+            DIAG(F("I2CTest: Received message mismatch, sent %2x rcvd %2x"), 
+              writeBuffer[i], readBuffer[i*32+j]);
+            diff = true;
+          }
+        }
+        if (diff) errors++;
+      } else
+        errors++;
+      I2CManager.queueRequest(&rb[i]);
+    }
+  }
+  if (millis() - lastOutput > 60000) { // 1 minute
+    DIAG(F("I2CTest: Count=%l Errors=%l"), count, errors);
+    count = errors = 0;
+    lastOutput = millis();
+  }
+}
+#endif
+
+void updateLocoScreen() {
+  for (int i=0; i<8; i++) {
+    if (DCC::speedTable[i].loco > 0) {
+      int speed = DCC::speedTable[i].speedCode;
+      char direction = (speed & 0x80) ? 'R' : 'F';
+      speed = speed & 0x7f;
+      if (speed > 0) speed = speed - 1;
+      SCREEN(3, i, F("Loco:%4d %3d %c"), DCC::speedTable[i].loco,
+        speed, direction);
+    }
+  }
+}
+
+void updateTime() {
+  uint8_t buffer[20];
+  I2CAddress rtc = {SubBus_1, 0x68};  // Real-time clock I2C address
+  buffer[0] = 0;
+
+  // Set time - only needs to be done once if battery is ok.
+  static bool timeSet = false;
+  if (!timeSet) {
+    // I2CManager.read(rtc, buffer+1, sizeof(buffer)-1);
+    // uint8_t year = 23;    // 2023
+    // uint8_t day = 2;      // tuesday
+    // uint8_t date = 21;    // 21st
+    // uint8_t month = 2;    // feb
+    // uint8_t hours = 23;   // xx:
+    // uint8_t minutes = 25; // :xx
+    // buffer[1] = 0;   // seconds
+    // buffer[2] = ((minutes / 10) << 4) | (minutes % 10);
+    // buffer[3] = ((hours / 10) << 4) | (hours % 10);
+    // buffer[4] = day;
+    // buffer[5] = ((date/10) << 4) + date%10; // 24th
+    // buffer[6] = ((month/10) << 4) + month%10; // feb
+    // buffer[7] = ((year/10) << 4) + year%10; // xx23
+    // for (uint8_t i=8; i<sizeof(buffer); i++) buffer[i] = 0;
+    // I2CManager.write(rtc, buffer, sizeof(buffer));
+    timeSet = true;
+  }
+
+  uint8_t status = I2CManager.read(rtc, buffer+1, sizeof(buffer)-1, 1, 0);
+  if (status == I2C_STATUS_OK) {
+    uint8_t seconds10 = buffer[1] >> 4;
+    uint8_t seconds1 = buffer[1] & 0xf;
+    uint8_t minutes10 = buffer[2] >> 4;
+    uint8_t minutes1 = buffer[2] & 0xf;
+    uint8_t hours10 = buffer[3] >> 4;
+    uint8_t hours1 = buffer[3] & 0xf;
+    SCREEN(10, 0, F("Departures  %d%d:%d%d:%d%d"), 
+      hours10, hours1, minutes10, minutes1, seconds10, seconds1);
+  }
+}
+
+void showCharacterSet() {
+  if (millis() < 3000) return;
+  const uint8_t lineLen = 20;
+  char buffer[lineLen+1];
+  static uint8_t nextChar = 0x20;
+  for (uint8_t row=0; row<8; row+=1) {
+    for (uint8_t col=0; col<lineLen; col++) {
+      buffer[col] = nextChar++;
+      buffer[++col] = ' ';
+      if (nextChar == 0) nextChar = 0x20; // check for wrap-around
+    }
+    buffer[lineLen] = '\0';
+    SCREEN(3, row, F("%s"), buffer);
+  }
+}
+
+#if defined(ARDUINO_NUCLEO_F446RE)
+HardwareSerial Serial3(PC11, PC10);
+#endif
+
+
+// HAL device initialisation
+void halSetup() {
+
+  I2CManager.setTimeout(500); // microseconds
+  I2CManager.forceClock(400000);
+
+  HALDisplay<OLED>::create(10, {SubBus_5, 0x3c}, 132, 64); // SH1106
+  // UserAddin::create(updateLocoScreen, 1000);
+  // UserAddin::create(showCharacterSet, 5000);
+  // UserAddin::create(updateTime, 1000);
+  
+  HALDisplay<OLED>::create(10, {SubBus_4, 0x3c}, 128, 32);
+  HALDisplay<OLED>::create(10, {SubBus_7, 0x3c}, 128, 32);
+
+  //HALDisplay<LiquidCrystal_I2C>::create(10, {SubBus_4, 0x27}, 20, 4);
+
+    // Draw double boxes with X O O X inside.
+  // SCREEN(3, 2, F("\xc9\xcd\xcd\xcd\xcb\xcd\xcd\xcd\xcb\xcd\xcd\xcd\xcb\xcd\xcd\xcd\xcb\xcd\xcd\xcd\xbb"));
+  // SCREEN(3, 3, F("\xba X \xba O \xba O \xba O \xba X \xba"));
+  // SCREEN(3, 4, F("\xcc\xcd\xcd\xcd\xce\xcd\xcd\xcd\xce\xcd\xcd\xcd\xce\xcd\xcd\xcd\xce\xcd\xcd\xcd\xb9"));
+  // SCREEN(3, 5, F("\xba X \xba O \xba O \xba O \xba X \xba"));
+  // SCREEN(3, 6, F("\xc8\xcd\xcd\xcd\xca\xcd\xcd\xcd\xca\xcd\xcd\xcd\xca\xcd\xcd\xcd\xca\xcd\xcd\xcd\xbc"));
+
+  // Draw single boxes with X O O X inside.
+  // SCREEN(3, 0, F("Summary Data:"));
+  // SCREEN(3, 1, F("\xda\xc4\xc4\xc4\xc2\xc4\xc4\xc4\xc2\xc4\xc4\xc4\xc2\xc4\xc4\xc4\xc2\xc4\xc4\xc4\xbf"));
+  // SCREEN(3, 2, F("\xb3 X \xb3 O \xb3 O \xb3 O \xb3 X \xb3"));
+  // SCREEN(3, 3, F("\xc3\xc4\xc4\xc4\xc5\xc4\xc4\xc4\xc5\xc4\xc4\xc4\xc5\xc4\xc4\xc4\xc5\xc4\xc4\xc4\xb4"));
+  // SCREEN(3, 4, F("\xb3 X \xb3 O \xb3 O \xb3 O \xb3 X \xb3"));
+  // SCREEN(3, 5, F("\xc3\xc4\xc4\xc4\xc5\xc4\xc4\xc4\xc5\xc4\xc4\xc4\xc5\xc4\xc4\xc4\xc5\xc4\xc4\xc4\xb4"));
+  // SCREEN(3, 6, F("\xb3 X \xb3 O \xb3 O \xb3 O \xb3 X \xb3"));
+  // SCREEN(3, 7, F("\xc0\xc4\xc4\xc4\xc1\xc4\xc4\xc4\xc1\xc4\xc4\xc4\xc1\xc4\xc4\xc4\xc1\xc4\xc4\xc4\xd9"));
+
+  // Blocks of different greyness
+  // SCREEN(3, 0, F("\xb0\xb0\xb0\xb0\xb1\xb1\xb1\xb1\xb2\xb2\xb2\xb2\xdb\xdb\xdb\xdb"));
+  // SCREEN(3, 1, F("\xb0\xb0\xb0\xb0\xb1\xb1\xb1\xb1\xb2\xb2\xb2\xb2\xdb\xdb\xdb\xdb"));
+  // SCREEN(3, 2, F("\xb0\xb0\xb0\xb0\xb1\xb1\xb1\xb1\xb2\xb2\xb2\xb2\xdb\xdb\xdb\xdb"));
+
+  // DCCEX logo
+  // SCREEN(3, 1, F("\xb0\xb0\x20\x20\x20\xb0\x20\x20\x20\xb0\x20\x20\x20\x20\xb0\xb0\xb0\x20\xb0\x20\xb0"));
+  // SCREEN(3, 2, F("\xb0\x20\xb0\x20\xb0\x20\xb0\x20\xb0\x20\xb0\x20\x20\x20\xb0\x20\x20\x20\xb0\x20\xb0"));
+  // SCREEN(3, 3, F("\xb0\x20\xb0\x20\xb0\x20\x20\x20\xb0\x20\x20\x20\xb0\x20\xb0\xb0\x20\x20\x20\xb0\x20"));
+  // SCREEN(3, 4, F("\xb0\x20\xb0\x20\xb0\x20\xb0\x20\xb0\x20\xb0\x20\x20\x20\xb0\x20\x20\x20\xb0\x20\xb0"));
+  // SCREEN(3, 5, F("\xb0\xb0\x20\x20\x20\xb0\x20\x20\x20\xb0\x20\x20\x20\x20\xb0\xb0\xb0\x20\xb0\x20\xb0"));
+  // SCREEN(3, 7, F("\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1\xb1"));
+  
+#if 0
+  // List versions of devices that respond to the version request
+  for (uint8_t address = 8; address<0x78; address++) {
+    uint8_t buffer[3];
+    uint8_t status = I2CManager.read(0x7c, buffer, sizeof(buffer), 1, address);
+    if (status == I2C_STATUS_OK) {
+      uint16_t manufacturer = ((uint16_t)buffer[0] << 4 ) | (buffer[1] >> 4);
+      uint16_t deviceID = ((uint16_t)(buffer[1] & 0x0f) << 5) | (buffer[2] >> 3);
+      uint16_t dieRevision = buffer[2] & 0x1f;
+      DIAG(F("Addr %s version: %x %x %x"), address.toString(), manufacturer, deviceID, dieRevision);
+    } 
+  }
+#endif
+
+#if I2C_STRESS_TEST
+  UserAddin::create(I2CTest, I2cTestPeriod);
+#endif
+
+#if WIRE_TEST
+  // Test of Wire-I2CManager interface
+  Wire.begin();
+  Wire.setClock(400000);
+  Wire.beginTransmission(0x23);
+  Wire.print("Hello");
+  uint8_t status = Wire.endTransmission();
+  if (status==0) DIAG(F("Wire: device Found on 0x23"));
+
+  Wire.beginTransmission(0x23);
+  Wire.write(0xde);
+  Wire.endTransmission(false); // don't send stop
+  Wire.requestFrom(0x23, 1);
+  if (Wire.available()) {
+    DIAG(F("Wire: value=x%x"), Wire.read());
+  }
+  uint8_t st = I2CManager.write(0x33, 0, 0);
+  DIAG(F("I2CManager 0x33 st=%d \"%S\""), st, 
+    I2CManager.getErrorMessage(st));
+#endif
+
+#if I2C_SETCLOCK
+  // Test I2C clock changes
+  // Set up two I2C request blocks
+  I2CRB rb1, rb2;
+  uint8_t readBuff[32];
+  rb1.setRequestParams(0x23, readBuff, sizeof(readBuff), readBuff, sizeof(readBuff));
+  rb2.setRequestParams(0x23, readBuff, sizeof(readBuff), readBuff, sizeof(readBuff));
+  // First set clock to 400kHz and then issue requests
+  I2CManager.forceClock(400000);
+  I2CManager.queueRequest(&rb1);
+  I2CManager.queueRequest(&rb2);
+  // Wait a little to allow the first transaction to start
+  delayMicroseconds(2);
+  // ... then request a clock speed change
+  I2CManager.forceClock(100000);
+  DIAG(F("I2CClock: rb1 status=%d"), rb1.wait());
+  DIAG(F("I2CClock: rb2 status=%d"), rb2.wait());
+  // Reset clock speed
+  I2CManager.forceClock(400000);
+#endif
+  
+  EXIOExpander::create(2200, 18, {SubBus_0, 0x65});
+  //UserAddin::create(myTest, 1000);
+  // ServoTurnout::create(2200, 2200, 400, 200, 0);
+  // ServoTurnout::create(2200, 2200, 400, 200, 0);
+
+  TouchKeypad::create(2300, 16, 25, 24);
+
+  // GPIO
+  PCF8574::create(800, 8, {SubBus_1, 0x23});
+  //PCF8574::create(808, 8, {SubBus_2, 0x27});
+  PCF8574::create(65000, 8, 0x27);
+
+  MCP23017::create(164,16,{SubBus_3, 0x20});
+  //MCP23017::create(180,16,{SubBus_0, 0x27});
+  Sensor::create(170, 170, 1); // Hall effect, enable pullup.
+  Sensor::create(171, 171, 1);
+
+  // PWM (LEDs and Servos)
+  // For servos, use default 50Hz pulses.
+  PCA9685::create(100, 16, {SubBus_1, 0x41});
+  // For LEDs, use 1kHz pulses.
+  PCA9685::create(116, 16, {SubBus_1, 0x40}, 1000);
+
+  // 4-pin Analogue Input Module
+  //ADS111x::create(4500, 4, 0x48);
+
+  // Laser Time-Of-Flight Sensors
+  VL53L0X::create(5000, 3, {SubBus_0, 0x60}, 300, 310, 46);
+  //VL53L0X::create(5003, 3, {SubBus_6, 0x61}, 300, 310, 47);
+  Sensor::create(5000, 5000, 0);
+  Sensor::create(5003, 5003, 0);
+  // Monitor reset digital on first TOF
+  //Sensor::create(46,46,0);
+
+  // // External 24C256 EEPROM (256kBytes) on I2C address 0x50.
+  // ExternalEEPROM::create({SubBus_0, 0x50}, 256);
+
+  // Play up to 10 sounds on pins 10000-10009. Player is connected to Serial1 or Serial2.
+  #if defined(HAVE_HWSERIAL1) && !defined(ARDUINO_ARCH_STM32)
+  DFPlayer::create(10000, 14, Serial1);
+  #elif defined(ARDUINO_ARCH_STM32)
+  DFPlayer::create(10000, 10, Serial3);  // Pins PC11 (RX) and PC10 (TX)
+  #endif
+
+  // Ultrasound echo device
+  HCSR04::create(2000, 32, 33, 80, 85 /*, HCSR04::LOOP */);
+  Sensor::create(2000, 2000, 0);
+
+#if __has_include("IO_CMRI.h")
+  CMRIbus::create(0, Serial2, 115200, 50, 40); // 50ms cycle, pin 40 for DE/!RE pins
+  CMRInode::create(25000, 72, 0, 0, 'M'); // SMINI address 0
+  for (int pin=0; pin<24; pin++) {
+    Sensor::create(25000+pin, 25000+pin, 0);
+  }
+#endif
+
+  //CMRInode::create(25072, 72, 0, 13, 'M');  // SMINI address 13
+  //CMRInode::create(25144, 288, 0, 14, 'C', 144, 144); // CPNODE address 14
+
+#ifdef NETWORK_PRESENT
+  // Define remote pins to be used.  The range of remote pins is like a common data area shared
+  // between all nodes.
+  // For outputs, a write to a remote VPIN causes a message to be sent to another node, which then performs
+  // the write operation on the device VPIN that is local to that node.
+  // For inputs, the state of remote input VPIN is read on the node where it is connected, and then 
+  // sent to other nodes in the system where the state is saved and processed.  Updates are sent on change, and
+  // also periodically if no changes.
+  //
+  // Each definition is a triple of remote node, remote pin, indexed by relative pin.  Up to 224 rpins can
+  // be configured (per node).  This is to fit into a 32-byte packet.
+  REMOTEPINS rpins[] = {
+      {30,164,RPIN_IN} ,       //4000  Node 30, first MCP23017 pin, input
+      {30,165,RPIN_IN},        //4001  Node 30, second MCP23017 pin, input
+      {30,166,RPIN_OUT},       //4002  Node 30, third MCP23017 pin, output
+      {30,166,RPIN_OUT},       //4003  Node 30, fourth MCP23017 pin, output
+      {30,100,RPIN_INOUT},     //4004  Node 30, first PCA9685 servo pin
+      {30,101,RPIN_INOUT},     //4005  Node 30, second PCA9685 servo pin
+      {30,102,RPIN_INOUT},     //4006  Node 30, third PCA9685 servo pin
+      {30,103,RPIN_INOUT},     //4007  Node 30, fourth PCA9685 servo pin
+      {30,24,RPIN_IN},         //4008  Node 30, Arduino pin D24
+      {30,25,RPIN_IN},         //4009  Node 30, Arduino pin D25
+      {30,26,RPIN_IN},         //4010  Node 30, Arduino pin D26
+      {30,27,RPIN_IN},         //4011  Node 30, Arduino pin D27
+      {30,1000,RPIN_OUT},      //4012  Node 30, DFPlayer playing flag (when read) / Song selector (when written)
+      {30,5000,RPIN_IN},       //4013  Node 30, VL53L0X detect pin
+      {30,VPIN_NONE,0},        //4014  Node 30, spare
+      {30,VPIN_NONE,0},        //4015  Node 30, spare
+    
+      {31,164,RPIN_IN} ,       //4016  Node 31, first MCP23017 pin, input
+      {31,165,RPIN_IN},        //4017  Node 31, second MCP23017 pin, input
+      {31,166,RPIN_OUT},       //4018  Node 31, third MCP23017 pin, output
+      {31,166,RPIN_OUT},       //4019  Node 31, fourth MCP23017 pin, output
+      {31,100,RPIN_INOUT},     //4020  Node 31, first PCA9685 servo pin
+      {31,101,RPIN_INOUT},     //4021  Node 31, second PCA9685 servo pin
+      {31,102,RPIN_INOUT},     //4022  Node 31, third PCA9685 servo pin
+      {31,103,RPIN_INOUT},     //4023  Node 31, fourth PCA9685 servo pin
+      {31,24,RPIN_IN},         //4024  Node 31, Arduino pin D24
+      {31,25,RPIN_IN},         //4025  Node 31, Arduino pin D25
+      {31,26,RPIN_IN},         //4026  Node 31, Arduino pin D26
+      {31,27,RPIN_IN},         //4027  Node 31, Arduino pin D27
+      {31,3,RPIN_IN},          //4028  Node 31, Arduino pin D3
+      {31,VPIN_NONE,0},        //4029  Node 31, spare
+      {31,VPIN_NONE,0},        //4030  Node 31, spare
+      {31,VPIN_NONE,0}         //4031  Node 31, spare
+    };
+  // FirstVPIN, nPins, thisNode, pinDefs, CEPin, CSNPin
+  // Net_RF24 *rf24Driver = new Net_RF24(48, 49);
+  // Network<Net_RF24>::create(4000, NUMREMOTEPINS(rpins), NODE, rpins, rf24Driver);
+  #if NODE==30
+  //Net_ENC28J60 *encDriver = new Net_ENC28J60(49);
+  //Network<Net_ENC28J60>::create(4000, NUMREMOTEPINS(rpins), NODE, rpins, encDriver);
+  #elif NODE==31
+  Net_ENC28J60 *encDriver = new Net_ENC28J60(53);
+  Network<Net_ENC28J60>::create(4000, NUMREMOTEPINS(rpins), NODE, rpins, encDriver);
+  #else
+  Net_Ethernet *etherDriver = new Net_Ethernet();
+  Network<Net_Ethernet>::create(4000, NUMREMOTEPINS(rpins), NODE, rpins, etherDriver);
+  #endif
+  for (int i=0; i<=32; i++) 
+    Sensor::create(4000+i, 4000+i, 0);
+#endif
+
+#ifdef ARDUINO_ARCH_STM32
+//PCF8574::create(1900, 8, 0x27);
+Sensor::create(1900,100,1);
+Sensor::create(1901,101,1);
+#endif
+
+}
+#endif // IO_NO_HAL
--- a/platformio.ini
+++ b/platformio.ini
@@ -20,11 +20,11 @@ default_envs =
 	ESP32
 	Nucleo-F411RE
 	Nucleo-F446RE
-	Teensy3.2
-	Teensy3.5
-	Teensy3.6
-	Teensy4.0
-	Teensy4.1
+	Teensy3_2
+	Teensy3_5
+	Teensy3_6
+	Teensy4_0
+	Teensy4_1
 src_dir = .
 include_dir = .

@@ -53,7 +53,7 @@ monitor_speed = 115200
 monitor_echo = yes
 build_flags = -std=c++17

-[env:Arduino M0]
+[env:Arduino-M0]
 platform = atmelsam
 board = mzeroUSB
 framework = arduino
@@ -192,7 +192,7 @@ build_flags = -std=c++17  -Os -g2 -Wunused-variable -DDIAG_LOOPTIMES ; -DDIAG_IO
 monitor_speed = 115200
 monitor_echo = yes

-[env:Teensy3.2]
+[env:Teensy3_2]
 platform = teensy
 board = teensy31
 framework = arduino
@@ -200,7 +200,7 @@ build_flags = -std=c++17  -Os -g2
 lib_deps = ${env.lib_deps}
 lib_ignore = NativeEthernet

-[env:Teensy3.5]
+[env:Teensy3_5]
 platform = teensy
 board = teensy35
 framework = arduino
@@ -208,7 +208,7 @@ build_flags = -std=c++17  -Os -g2
 lib_deps = ${env.lib_deps}
 lib_ignore = NativeEthernet

-[env:Teensy3.6]
+[env:Teensy3_6]
 platform = teensy
 board = teensy36
 framework = arduino
@@ -216,7 +216,7 @@ build_flags = -std=c++17  -Os -g2
 lib_deps = ${env.lib_deps}
 lib_ignore = NativeEthernet

-[env:Teensy4.0]
+[env:Teensy4_0]
 platform = teensy
 board = teensy40
 framework = arduino
@@ -224,7 +224,7 @@ build_flags = -std=c++17  -Os -g2
 lib_deps = ${env.lib_deps}
 lib_ignore = NativeEthernet

-[env:Teensy4.1]
+[env:Teensy4_1]
 platform = teensy
 board = teensy41
 framework = arduino
--- a/version.h
+++ b/version.h
@@ -4,14 +4,28 @@
 #include "StringFormatter.h"


-#define VERSION "4.2.36"
+#define VERSION "4.2.47"
+// 4.2.47 - Correct response to <JA 0>
+// 4.2.46 - Support boards with inverted fault pin
+// 4.2.45 - Add ONCLOCKMINS to FastClock to allow hourly repeat events
+// 4.2.44 - Add PowerShell installer EX-CommandStation-installer.exe
+// 4.2.43 - Fix STM32 set right port mode bits for analog
+// 4.2.42 - Added EXRAIL TURNOUTL Macro definition
+// 4.2.41 - Move HAl startup to ASAP in setup()
+//        - Fix DNOU8 output pin setup to all LOW  
+// 4.2.40 - Automatically detect conflicting default I2C devices and disable
+// 4.2.39 - DFplayer driver now polls device to detect failures and errors.
+// 4.2.38 - Clean up compiler warning when IO_RotaryEncoder.h included
+// 4.2.37 - Add new FLAGS HAL device for communications to/from EX-RAIL;
+//        - Fix diag display of high VPINs within IODevice class.
 // 4.2.36 - do not broadcast a turnout state that has not changed
+//        - Use A2/A3 for current sensing on ESP32 + Motor Shield
 // 4.2.35 - add <z> direct pin manipulation command 
 // 4.2.34 - Completely fix EX-IOExpander analogue inputs
 // 4.2.33 - Fix EX-IOExpander non-working analogue inputs
 // 4.2.32 - Fix LCD/Display bugfixes from 4.2.29
 // 4.2.31 - Removes EXRAIL statup from top of file. (BREAKING CHANGE !!)
-//          Just add AUTOSTART to the top of your myAutomation.h to restore this function. 
+//          Just add AUTOSTART to the top of your myAutomation.h to restore this function.
 // 4.2.30 - Fixes/enhancements to EX-IOExpander device driver.
 // 4.2.29 - Bugfix Scroll LCD without empty lines and consistent
 // 4.2.28 - Reinstate use of timer11 in STM32 - remove HA mode.
@@ -64,6 +78,10 @@
 // 4.2.11 Exrail IFLOCO feature added
 // 4.2.10 SIGNAL/SIGNALH bug fix as they were inverted
 //        IO_EXIOExpander.h input speed optimisation
+//        ONCLOCK and ONCLOCKTIME command added to EXRAIL for EX-FastCLock
+//        <JC> Serial command added for EX-FastClock
+//        <jC> Broadcast added for EX-FastClock
+//        IO_EXFastClock.h added for I2C FastClock connection
 // 4.2.9 duinoNodes support
 // 4.2.8 HIGHMEM (EXRAIL support beyond 64kb)
 //       Withrottle connect/disconnect improvements
Author	SHA1	Message	Date
Harald Barth	9d953c70b8	use M1 and M2 instead of MD for motor control	2023-05-02 23:51:17 +02:00
Harald Barth	efdbfcb030	Add serial output for sabertooth controller	2023-05-01 20:18:32 +02:00
Colin Murdoch	33306219c8	Merge branch 'devel' of https://github.com/DCC-EX/CommandStation-EX into devel	2023-04-19 19:46:12 +01:00
Colin Murdoch	d857c4f2e4	Added to Copyright notice Added my name to copyright notice	2023-04-19 19:45:40 +01:00
Asbelos	70fae16ab3	Correct response to <JA 0>	2023-04-19 11:18:47 +01:00
Harald Barth	f465020e93	Support boards with inverted fault pin	2023-04-17 23:40:48 +02:00
Harald Barth	235bcc9ff0	Merge branch 'devel' into devel-invfault	2023-04-17 23:20:01 +02:00
pmantoine	d2cc60812d	Merge ESP32-fixes into DCCTimerESP	2023-04-16 15:40:27 +08:00
pmantoine	75f274e3b7	STM32 unsupported board selection error reporting	2023-04-13 15:27:22 +08:00
Colin Murdoch	ff53b90034	Update version.h Added ONCLOCKMINS for FastClock	2023-04-12 12:11:43 +01:00
Colin Murdoch	1daa0a9ba9	Merge branch 'devel-plus-fastclockaddons' into devel	2023-04-12 12:09:27 +01:00
Colin Murdoch	294b9693c5	Additions to FastClock Added ONCLOCKMINS to fastclock to allow hourly repeated events.	2023-04-12 12:07:08 +01:00
Harald Barth	16e44eb11a	Check for max 16 analog channels	2023-04-11 12:13:47 +02:00
peteGSX	4bad334875	Update version	2023-04-11 12:01:25 +10:00
peteGSX	32491854ff	Merge pull request #330 from DCC-EX:powershell-installer Powershell-installer	2023-04-11 11:59:28 +10:00
peteGSX	3e95372816	Rename installer exe	2023-04-11 11:48:35 +10:00
peteGSX	05b0fc3d2e	Add exe version	2023-04-11 10:26:15 +10:00
peteGSX	bb7cdc5422	WiFi AP mode compiles	2023-04-11 09:42:54 +10:00
peteGSX	6199cecd42	0.0.7 Ready for testing	2023-04-11 08:55:04 +10:00
peteGSX	1aae0aed0a	Working on config output	2023-04-11 05:31:44 +10:00
peteGSX	1d29be9de6	Working on 0.0.7	2023-04-10 19:52:31 +10:00
Harald Barth	bfa33a9df7	Fix STM32 set right port mode bits for analog port	2023-04-10 01:47:00 +02:00
Harald Barth	49c0a1a55a	Merge branch 'devel' of https://github.com/DCC-EX/CommandStation-EX into devel	2023-04-08 23:35:48 +02:00
Harald Barth	9b7d1ae858	STM32: Use predefined function for pinnames	2023-04-08 23:33:33 +02:00
Colin Murdoch	c11d8f6359	Add TURNOUTL Macro to EXRAIL Add TURNOUTL Macro to EXRAIL and retrospective update to version.h to record addition of EX-FastClock mods.	2023-04-08 17:22:39 +01:00
pmantoine	3868bb19ac	More uint type fixes	2023-04-08 14:51:10 +08:00
pmantoine	7589917638	STM32 ADCee fix	2023-04-08 14:15:38 +08:00
peteGSX	e7d9626a72	Fix CLI directory name	2023-04-08 08:39:42 +10:00
peteGSX	fe035f4096	Move from temp to user home dir	2023-04-08 08:38:02 +10:00
peteGSX	4d236446b0	Add core index update	2023-04-08 06:57:09 +10:00
peteGSX	a100d709ce	Install core library, add batch wrapper	2023-04-08 06:22:09 +10:00
Harald Barth	0d82370380	devel date	2023-04-07 20:46:20 +02:00
Harald Barth	ff6034dff2	curl only needed when downloading	2023-04-07 20:45:21 +02:00
Harald Barth	5d0de6b807	platformio wants this	2023-04-07 20:44:40 +02:00
peteGSX	2e518fcac2	Enable using existing configs	2023-04-07 19:30:15 +10:00
peteGSX	be273454bc	Merge branch 'powershell-installer' of https://github.com/DCC-EX/CommandStation-EX into powershell-installer	2023-04-07 19:04:03 +10:00
peteGSX	751b46b6bb	Initial test working!	2023-04-07 19:03:51 +10:00
peteGSX	91bc9df44e	Working on CLI commands	2023-04-07 19:03:51 +10:00
peteGSX	72ceb63913	Start getting tag list	2023-04-07 19:03:50 +10:00
peteGSX	d2c7e7fb8d	Working on logic	2023-04-07 19:03:50 +10:00
peteGSX	61db37c7ea	Got tag version and URL	2023-04-07 19:03:50 +10:00
peteGSX	3a3071f35b	Got tag list	2023-04-07 19:03:50 +10:00
peteGSX	ef3d36ae25	Figuring out commands	2023-04-07 19:03:50 +10:00
pmantoine	c3d2e5b222	Fix to PIO build target names for Teensy	2023-04-07 13:59:49 +10:00
peteGSX	9f212c27bf	Initial test working!	2023-04-07 08:06:32 +10:00
peteGSX	de06c0ae3e	Working on CLI commands	2023-04-06 15:06:22 +10:00
Asbelos	273f55b143	4.2.41 Hal setup and DNOU8 fix	2023-04-05 23:19:43 +01:00
peteGSX	86cb8f4666	Merge pull request #327 from DCC-EX:auto-disable-default-i2c Added disable logic	2023-04-06 07:09:32 +10:00
peteGSX	9571088e1b	Added disable logic	2023-04-06 07:03:59 +10:00
peteGSX	18a992bf08	Start getting tag list	2023-04-06 05:31:11 +10:00
peteGSX	de6e91a778	Working on logic	2023-04-05 15:54:48 +10:00
peteGSX	b18df1405c	Got tag version and URL	2023-04-05 05:30:00 +10:00
peteGSX	305e0902f4	Got tag list	2023-04-04 19:30:59 +10:00
peteGSX	95c1b1da31	Figuring out commands	2023-04-04 15:48:11 +10:00
Neil McKechnie	1b4faa92cd	Update IO_DFPlayer.h Reinstate STOP command in place of PAUSE, as PAUSE was being reported differently to STOP in the status response.	2023-03-31 17:58:30 +01:00
Neil McKechnie	6fbaca7930	Update IO_DFPlayer.h Ensure device goes off-line when not responding.	2023-03-31 16:50:18 +01:00
Neil McKechnie	6b535654f8	DFplayer driver now polls device to detect failures and errors. Add cyclic (1-second) poll of DFplayer device to detect if it goes unresponsive.	2023-03-31 16:40:40 +01:00
peteGSX	2c943d250e	Merge pull request #326 from DCC-EX:287-to-do-clean-up-rotary-encoder-device-driver-compile-time-warning Cleaned up warning	2023-03-30 07:01:40 +10:00
peteGSX	89664eff9d	Cleaned up warning	2023-03-30 06:54:18 +10:00
Daniele Viganò	f8b054cf6a	[ESP32] Use GPIO 35/A2 and 34/A3 for current sensing (#325 ) * [ESP32] Use GPIO 35/A2 and 34/A3 for current sensing while used in combination with the standard Motor Shield * Update version.h changelog	2023-03-27 10:44:47 -04:00
Neil McKechnie	d2a8aebd0f	Merge branch 'devel' of https://github.com/DCC-EX/CommandStation-EX into devel	2023-03-27 13:08:19 +01:00
Neil McKechnie	86c3020672	Correct display of high VPIN numbers in diagnostic output. No functional change. VPINs are unsigned integers in the range 0-65535 (although the highest values are special, 65535=VPIN_NONE). Values above 32767 were erroneously being displayed as negative. This has been fixed, which is a pre-requisite for allowing VPINs above 32767 to be used.	2023-03-27 13:08:14 +01:00
Neil McKechnie	60ea7f081a	Correct display of high VPIN numbers in diagnostic output. No functional change. VPINs are unsigned integers in the range 0-65535 (although the highest values are special, 65535=VPIN_NONE). Values above 32767 were erroneously being displayed as negative. This has been fixed, which is a pre-requisite for allowing VPINs above 32767 to be used.	2023-03-27 13:03:19 +01:00
Neil McKechnie	f348857ddb	Add FLAGS device for EX-RAIL state communications. Improve VPIN display in messages. FLAGS HAL device added to IODevice.h, which allows use of SET/RESET/<Z>/<T> to set and reset a VPIN state, and to allow <S>/IF/IFNOT/AT/WAITFOR/etc. to monitor the VPIN state. Also, correct handling of VPINs above 32767 in DIAG calls within IODevice.cpp and IODevice.h.	2023-03-27 12:39:11 +01:00
Harald Barth	31ecba08d8	faultPin can be inverted (from its inverted sense	2023-03-03 20:51:32 +01:00