use M1 and M2 instead of MD for motor control

Added my name to copyright notice

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

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

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

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.

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);

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) {
-  uint8_t 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 uint8_t 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

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

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
-

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
@@ -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) {

EXRAIL2.h

@@ -1,6 +1,7 @@
 /*
  *  © 2021 Neil McKechnie
  *  © 2020-2022 Chris Harlow
+ *  © 2022 Colin Murdoch
  *  © 2023 Harald Barth
  *  All rights reserved.
  *  

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) 

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) 

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "devel-202304071845Z"
+#define GITHUB_SHA "devel-202305022149Z"

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

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

MotorDrivers.h

@@ -76,9 +76,13 @@
 // 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*/, 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 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), \

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) {

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%
+)

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)

version.h

@@ -4,7 +4,13 @@
 #include "StringFormatter.h"
 
 
-#define VERSION "4.2.41"
+#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
@@ -72,6 +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