Do not invoke graphical install on Raspbian

* Update WifiESP32.cpp

Fix SSID for AP from DCC_ to DCCEX_

* Update version.h to 4.2.59

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
@@ -167,7 +168,7 @@ void  CommandDistributor::broadcastClockTime(int16_t time, int8_t rate) {
   // be safe for both types.
   broadcastReply(COMMAND_TYPE, F("<jC %d %d>\n"),time, rate);
 #ifdef CD_HANDLE_RING
-  broadcastReply(WITHROTTLE_TYPE, F("PFT%d<;>%d\n"), time*60, rate);
+  broadcastReply(WITHROTTLE_TYPE, F("PFT%l<;>%d\n"), (int32_t)time*60, rate);
 #endif
 }
 
@@ -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
@@ -227,11 +261,8 @@ void  CommandDistributor::broadcastPower() {
   LCD(2,F("Power %S%S"),state=='1'?F("On"):F("Off"),reason);  
 }
 
-void CommandDistributor::broadcastText(const FSH * msg) {
-  broadcastReply(COMMAND_TYPE, F("<I %S>\n"),msg);
-#ifdef CD_HANDLE_RING
-  broadcastReply(WITHROTTLE_TYPE, F("Hm%S\n"), msg);
-#endif
+void CommandDistributor::broadcastRaw(clientType type, char * msg) {
+  broadcastReply(type, F("%s"),msg);
 }
 
 void CommandDistributor::broadcastTrackState(const FSH* format,byte trackLetter,int16_t dcAddr) {

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
@@ -33,8 +35,9 @@
 #endif 
 
 class CommandDistributor {
-private:
+public:
   enum clientType: byte {NONE_TYPE,COMMAND_TYPE,WITHROTTLE_TYPE};
+private:
   static void broadcastToClients(clientType type);
   static StringBuffer * broadcastBufferWriter;
   #ifdef CD_HANDLE_RING
@@ -50,7 +53,7 @@ public :
   static void setClockTime(int16_t time, int8_t rate, byte opt);
   static int16_t retClockTime();
   static void broadcastPower();
-  static void broadcastText(const FSH * msg);
+  static void broadcastRaw(clientType type,char * msg);
   static void broadcastTrackState(const FSH* format,byte trackLetter,int16_t dcAddr);
   template<typename... Targs> static void broadcastReply(clientType type, Targs... msg);
   static void forget(byte clientId);

CommandStation-EX.ino

@@ -78,6 +78,12 @@ void setup()
 // 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();
+  // Set up MotorDrivers early to initialize all pins
+  TrackManager::Setup(MOTOR_SHIELD_TYPE);
+
   DISPLAY_START (
     // This block is still executed for DIAGS if display not in use
     LCD(0,F("DCC-EX v%S"),F(VERSION));
@@ -100,15 +106,8 @@ void setup()
   EthernetInterface::setup();
 #endif // ETHERNET_ON
   
-  // 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();
   // Responsibility 3: Start the DCC engine.
-  // Note: this provides DCC with two motor drivers, main and prog, which handle the motor shield(s)
-  // Standard supported devices have pre-configured macros but custome hardware installations require
-  //  detailed pin mappings and may also require modified subclasses of the MotorDriver to implement specialist logic.
-  // STANDARD_MOTOR_SHIELD, POLOLU_MOTOR_SHIELD, FIREBOX_MK1, FIREBOX_MK1S are pre defined in MotorShields.h
-  TrackManager::Setup(MOTOR_SHIELD_TYPE);
+  DCC::begin();
 
   // Start RMFT aka EX-RAIL (ignored if no automnation)
   RMFT::begin();

DCC.cpp

@@ -60,8 +60,7 @@ const byte FN_GROUP_5=0x10;
 FSH* DCC::shieldName=NULL;
 byte DCC::globalSpeedsteps=128;
 
-void DCC::begin(const FSH * motorShieldName) {
-  shieldName=(FSH *)motorShieldName;
+void DCC::begin() {
   StringFormatter::send(&USB_SERIAL,F("<iDCC-EX V-%S / %S / %S G-%S>\n"), F(VERSION), F(ARDUINO_TYPE), shieldName, F(GITHUB_SHA));
 #ifndef DISABLE_EEPROM
   // Load stuff from EEprom
@@ -693,7 +692,7 @@ void  DCC::updateLocoReminder(int loco, byte speedCode) {
 
   if (loco==0) {
      // broadcast stop/estop but dont change direction
-     for (int reg = 0; reg < highestUsedReg; reg++) {
+     for (int reg = 0; reg <= highestUsedReg; reg++) {
        if (speedTable[reg].loco==0) continue;
        byte newspeed=(speedTable[reg].speedCode & 0x80) |  (speedCode & 0x7f);
        if (speedTable[reg].speedCode != newspeed) {

DCC.h

@@ -51,7 +51,10 @@ const byte MAX_LOCOS = 30;
 class DCC
 {
 public:
-  static void begin(const FSH * motorShieldName);
+  static inline void setShieldName(const FSH * motorShieldName) {
+    shieldName=(FSH *)motorShieldName;
+  };
+  static void begin();
   static void loop();
 
   // Public DCC API functions

DCCACK.cpp

@@ -152,7 +152,7 @@ byte DCCACK::getAck() {
       return(0);  // pending set off but not detected means no ACK.   
 }
 
-
+#ifndef DISABLE_PROG
 void DCCACK::loop() {
   while (ackManagerProg) {
     byte opcode=GETFLASH(ackManagerProg);
@@ -414,7 +414,7 @@ void DCCACK::callback(int value) {
           (ackManagerCallback)( value);
     }
 }
-
+#endif
 
 void DCCACK::checkAck(byte sentResetsSincePacket) {
     if (!ackPending) return; 

DCCEXParser.cpp

@@ -3,10 +3,11 @@
  *  © 2021 Neil McKechnie
  *  © 2021 Mike S
  *  © 2021 Herb Morton
- *  © 2020-2022 Harald Barth
+ *  © 2020-2023 Harald Barth
  *  © 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
@@ -46,16 +47,14 @@
 #define SENDFLASHLIST(stream,flashList)                 \
     for (int16_t i=0;;i+=sizeof(flashList[0])) {                            \
         int16_t value=GETHIGHFLASHW(flashList,i);       \
-        if (value==0) break;                            \
-        StringFormatter::send(stream,F(" %d"),value);   \
+        if (value==INT16_MAX) break;                            \
+        if (value != 0) StringFormatter::send(stream,F(" %d"),value);	\
     }                                   
 
 
 // These keywords are used in the <1> command. The number is what you get if you use the keyword as a parameter.
 // To discover new keyword numbers , use the <$ YOURKEYWORD> command
-const int16_t HASH_KEYWORD_PROG = -29718;
 const int16_t HASH_KEYWORD_MAIN = 11339;
-const int16_t HASH_KEYWORD_JOIN = -30750;
 const int16_t HASH_KEYWORD_CABS = -11981;
 const int16_t HASH_KEYWORD_RAM = 25982;
 const int16_t HASH_KEYWORD_CMD = 9962;
@@ -63,7 +62,11 @@ const int16_t HASH_KEYWORD_ACK = 3113;
 const int16_t HASH_KEYWORD_ON = 2657;
 const int16_t HASH_KEYWORD_DCC = 6436;
 const int16_t HASH_KEYWORD_SLOW = -17209;
+#ifndef DISABLE_PROG
+const int16_t HASH_KEYWORD_JOIN = -30750;
+const int16_t HASH_KEYWORD_PROG = -29718;
 const int16_t HASH_KEYWORD_PROGBOOST = -6353;
+#endif
 #ifndef DISABLE_EEPROM
 const int16_t HASH_KEYWORD_EEPROM = -7168;
 #endif
@@ -285,6 +288,8 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 
         if (direction < 0 || direction > 1)
             break; // invalid direction code
+	if (cab > 10239 || cab < 0)
+	    break; // beyond DCC range
 
         DCC::setThrottle(cab, tspeed, direction);
         if (params == 4) // send obsolete format T response
@@ -368,6 +373,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             return;
         break;
 
+#ifndef DISABLE_PROG
     case 'w': // WRITE CV on MAIN <w CAB CV VALUE>
         DCC::writeCVByteMain(p[0], p[1], p[2]);
         return;
@@ -375,9 +381,12 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
     case 'b': // WRITE CV BIT ON MAIN <b CAB CV BIT VALUE>
         DCC::writeCVBitMain(p[0], p[1], p[2], p[3]);
         return;
+#endif
 
     case 'M': // WRITE TRANSPARENT DCC PACKET MAIN <M REG X1 ... X9>
+#ifndef DISABLE_PROG
     case 'P': // WRITE TRANSPARENT DCC PACKET PROG <P REG X1 ... X9>
+#endif
         // NOTE: this command was parsed in HEX instead of decimal
         params--; // drop REG
         if (params<1) break;
@@ -392,6 +401,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         }
         return;
         
+#ifndef DISABLE_PROG
     case 'W': // WRITE CV ON PROG <W CV VALUE CALLBACKNUM CALLBACKSUB>
             if (!stashCallback(stream, p, ringStream))
                 break;
@@ -449,6 +459,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
             return;
         }
         break;
+#endif
 
     case '1': // POWERON <1   [MAIN|PROG|JOIN]>
         {
@@ -456,27 +467,29 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         bool prog=false;
         bool join=false;
         if (params > 1) break;
-        if (params==0 || MotorDriver::commonFaultPin) { // <1> or tracks can not be handled individually
+        if (params==0) { // All
             main=true;
             prog=true;
         }
 	if (params==1) {
-	  if (p[0] == HASH_KEYWORD_JOIN) {  // <1 JOIN>
+	  if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
+            main=true;
+	  }
+#ifndef DISABLE_PROG
+	  else if (p[0] == HASH_KEYWORD_JOIN) {  // <1 JOIN>
             main=true;
             prog=true;
             join=true;
 	  }
-	  else if (p[0]==HASH_KEYWORD_MAIN) { // <1 MAIN>
-            main=true;
-	  }
 	  else if (p[0]==HASH_KEYWORD_PROG) { // <1 PROG>
             prog=true;
 	  }
+#endif
 	  else break; // will reply <X>
 	}
+        TrackManager::setJoin(join);
         if (main) TrackManager::setMainPower(POWERMODE::ON);
         if (prog) TrackManager::setProgPower(POWERMODE::ON);
-        TrackManager::setJoin(join);
 
         CommandDistributor::broadcastPower();
         return;
@@ -487,7 +500,7 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
         bool main=false;
         bool prog=false;
         if (params > 1) break;
-        if (params==0 || MotorDriver::commonFaultPin) { // <0> or tracks can not be handled individually
+        if (params==0) { // All
 	  main=true;
 	  prog=true;
         }
@@ -495,18 +508,20 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
 	  if (p[0]==HASH_KEYWORD_MAIN) { // <0 MAIN>
 	    main=true;
 	  }
+#ifndef DISABLE_PROG
 	  else if (p[0]==HASH_KEYWORD_PROG) { // <0 PROG>
 	    prog=true;
 	  }
+#endif
 	  else break; // will reply <X>
 	}
 
+        TrackManager::setJoin(false);
         if (main) TrackManager::setMainPower(POWERMODE::OFF);
         if (prog) {
             TrackManager::progTrackBoosted=false;  // Prog track boost mode will not outlive prog track off
             TrackManager::setProgPower(POWERMODE::OFF);
         }
-        TrackManager::setJoin(false);
 
         CommandDistributor::broadcastPower();
         return;
@@ -637,8 +652,12 @@ void DCCEXParser::parseOne(Print *stream, byte *com, RingStream * ringStream)
                 if (params==1) {
                     SENDFLASHLIST(stream,RMFT2::rosterIdList)
                 }
-                else StringFormatter::send(stream,F(" %d \"%S\" \"%S\""), 
-                    id, RMFT2::getRosterName(id), RMFT2::getRosterFunctions(id));
+                else {
+		  const FSH * functionNames= RMFT2::getRosterFunctions(id);
+		  StringFormatter::send(stream,F(" %d \"%S\" \"%S\""), 
+					id, RMFT2::getRosterName(id),
+					functionNames == NULL ? RMFT2::getRosterFunctions(0) : functionNames);
+		}
 #endif          
                 StringFormatter::send(stream, F(">\n"));      
                 return; 
@@ -892,6 +911,7 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         StringFormatter::send(stream, F("Free memory=%d\n"), DCCTimer::getMinimumFreeMemory());
         break;
 
+#ifndef DISABLE_PROG
     case HASH_KEYWORD_ACK: // <D ACK ON/OFF> <D ACK [LIMIT|MIN|MAX|RETRY] Value>
 	if (params >= 3) {
 	    if (p[1] == HASH_KEYWORD_LIMIT) {
@@ -912,6 +932,7 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
 	  Diag::ACK = onOff;
 	}
         return true;
+#endif
 
     case HASH_KEYWORD_CMD: // <D CMD ON/OFF>
         Diag::CMD = onOff;
@@ -934,11 +955,11 @@ bool DCCEXParser::parseD(Print *stream, int16_t params, int16_t p[])
         Diag::LCN = onOff;
         return true;
 #endif
-
+#ifndef DISABLE_PROG
     case HASH_KEYWORD_PROGBOOST:
         TrackManager::progTrackBoosted=true;
 	    return true;
-
+#endif
     case HASH_KEYWORD_RESET:
         DCCTimer::reset();
         break; // and <X> if we didnt restart 

DCCRMT.cpp

@@ -194,8 +194,10 @@ int RMTChannel::RMTfillData(const byte buffer[], byte byteCount, byte repeatCoun
   setDCCBit1(data + bitcounter-1);     // overwrite previous zero bit with one bit
   setEOT(data + bitcounter++);         // EOT marker
   dataLen = bitcounter;
+  noInterrupts();                      // keep dataReady and dataRepeat consistnet to each other
   dataReady = true;
   dataRepeat = repeatCount+1;         // repeatCount of 0 means send once
+  interrupts();
   return 0;
 }
 
@@ -212,6 +214,8 @@ void IRAM_ATTR RMTChannel::RMTinterrupt() {
   if (dataReady) {            // if we have new data, fill while preamble is running
     rmt_fill_tx_items(channel, data, dataLen, preambleLen-1);
     dataReady = false;
+    if (dataRepeat == 0)       // all data should go out at least once
+      DIAG(F("Channel %d DCC signal lost data"), channel);
   }
   if (dataRepeat > 0)         // if a repeat count was specified, work on that
     dataRepeat--;

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.
@@ -102,9 +105,14 @@ private:
 // that an offset can be initialized.
 class ADCee {
 public:
-  // init does add the pin to the list of scanned pins (if this
+  // begin is called for any setup that must be done before
+  // **init** can be called. On some architectures this involves ADC
+  // initialisation and clock routing, sampling times etc.
+  static void begin();
+  // init adds the pin to the list of scanned pins (if this
   // platform's implementation scans pins) and returns the first
-  // read value. It is called before the regular scan is started.
+  // read value (which is why it required begin to have been called first!)
+  // It must be called before the regular scan is started.
   static int init(uint8_t pin);
   // read does read the pin value from the scanned cache or directly
   // if this is a platform that does not scan. fromISR is a hint if
@@ -113,19 +121,15 @@ public:
   static int read(uint8_t pin, bool fromISR=false);
   // returns possible max value that the ADC can return
   static int16_t ADCmax();
-  // begin is called for any setup that must be done before
-  // scan can be called.
-  static void begin();
 private:
   // On platforms that scan, it is called from waveform ISR
   // only on a regular basis.
   static void scan();
   // bit array of used pins (max 16)
   static uint16_t usedpins;
+  static uint8_t highestPin;
   // cached analog values (malloc:ed to actual number of ADC channels)
   static int *analogvals;
-  // ids to scan (new way)
-  static byte *idarr;
   // friend so that we can call scan() and begin()
   friend class DCCWaveform;
   };

DCCTimerAVR.cpp

@@ -1,6 +1,6 @@
 /*
  *  © 2021 Mike S
- *  © 2021-2022 Harald Barth
+ *  © 2021-2023 Harald Barth
  *  © 2021 Fred Decker
  *  © 2021 Chris Harlow
  *  © 2021 David Cutting
@@ -29,6 +29,9 @@
 #include <avr/boot.h> 
 #include <avr/wdt.h>
 #include "DCCTimer.h"
+#ifdef DEBUG_ADC
+#include "TrackManager.h"
+#endif
 INTERRUPT_CALLBACK interruptHandler=0;
 
   // Arduino nano, uno, mega etc
@@ -128,8 +131,8 @@ void DCCTimer::reset() {
 #define NUM_ADC_INPUTS 8
 #endif
 uint16_t ADCee::usedpins = 0;
+uint8_t ADCee::highestPin = 0;
 int * ADCee::analogvals = NULL;
-byte *ADCee::idarr = NULL;
 static bool ADCusesHighPort = false;
 
 /*
@@ -139,28 +142,17 @@ static bool ADCusesHighPort = false;
  */
 int ADCee::init(uint8_t pin) {
   uint8_t id = pin - A0;
-  byte n;
   if (id >= NUM_ADC_INPUTS)
     return -1023;
   if (id > 7)
     ADCusesHighPort = true;
   pinMode(pin, INPUT);
   int value = analogRead(pin);
-  if (analogvals == NULL) {
+  if (analogvals == NULL)
     analogvals = (int *)calloc(NUM_ADC_INPUTS, sizeof(int));
-    for (n=0 ; n < NUM_ADC_INPUTS; n++) // set unreasonable value at startup as marker
-      analogvals[n] = -32768;           // 16 bit int min value
-    idarr = (byte *)calloc(NUM_ADC_INPUTS+1, sizeof(byte));  // +1 for terminator value
-    for (n=0 ; n <= NUM_ADC_INPUTS; n++)
-      idarr[n] = 255;                   // set 255 as end of array marker
-  }
-  analogvals[id] = value; // store before enable by idarr[n]
-  for (n=0 ; n <= NUM_ADC_INPUTS; n++) {
-    if (idarr[n] == 255) {
-      idarr[n] = id;
-      break;
-    }
-  }
+  analogvals[id] = value;
+  usedpins |= (1<<id);
+  if (id > highestPin) highestPin = id;
   return value;
 }
 int16_t ADCee::ADCmax() {
@@ -170,14 +162,14 @@ int16_t ADCee::ADCmax() {
  * Read function ADCee::read(pin) to get value instead of analogRead(pin)
  */
 int ADCee::read(uint8_t pin, bool fromISR) {
-  (void)fromISR; // AVR does ignore this arg
   uint8_t id = pin - A0;
-  int a;
+  if ((usedpins & (1<<id) ) == 0)
+    return -1023;
   // we do not need to check (analogvals == NULL)
   // because usedpins would still be 0 in that case
-  noInterrupts();
-  a = analogvals[id];
-  interrupts();
+  if (!fromISR) noInterrupts();
+  int a = analogvals[id];
+  if (!fromISR) interrupts();
   return a;
 }
 /*
@@ -186,7 +178,8 @@ int ADCee::read(uint8_t pin, bool fromISR) {
 #pragma GCC push_options
 #pragma GCC optimize ("-O3")
 void ADCee::scan() {
-  static byte num = 0;       // index into id array
+  static byte 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;
 
   if (waiting) {
@@ -198,26 +191,49 @@ void ADCee::scan() {
     low = ADCL; //must read low before high
     high = ADCH;
     bitSet(ADCSRA, ADIF);
-    analogvals[idarr[num]] = (high << 8) | low;
+    analogvals[id] = (high << 8) | low;
+    // advance at least one track
+#ifdef DEBUG_ADC
+    if (id == 1) TrackManager::track[1]->setBrake(0);
+#endif
     waiting = false;
+    id++;
+    mask = mask << 1;
+    if (id > highestPin) {
+      id = 0;
+      mask = 1;
+    }
   }
   if (!waiting) {
-    // cycle around in-use analogue pins
-    num++;
-    if (idarr[num] == 255)
-      num = 0;
-    // start new ADC aquire on id
+    if (usedpins == 0) // otherwise we would loop forever
+      return;
+    // look for a valid track to sample or until we are around
+    while (true) {
+      if (mask  & usedpins) {
+	// start new ADC aquire on id
 #if defined(ADCSRB) && defined(MUX5)
-    if (ADCusesHighPort) {     // if we ever have started to use high pins)
-      if (idarr[num] > 7)              // if we use a high ADC pin
-	bitSet(ADCSRB, MUX5);  // set MUX5 bit
-      else
-	bitClear(ADCSRB, MUX5);
-    }
+	if (ADCusesHighPort) { // if we ever have started to use high pins)
+	  if (id > 7)          // if we use a high ADC pin
+	    bitSet(ADCSRB, MUX5); // set MUX5 bit
+	  else
+	    bitClear(ADCSRB, MUX5);
+	}
 #endif
-    ADMUX = (1 << REFS0) | (idarr[num] & 0x07); // select AVCC as reference and set MUX
-    bitSet(ADCSRA, ADSC);               // start conversion
-    waiting = true;
+	ADMUX=(1<<REFS0)|(id & 0x07); //select AVCC as reference and set MUX
+	bitSet(ADCSRA,ADSC); // start conversion
+#ifdef DEBUG_ADC
+	if (id == 1) TrackManager::track[1]->setBrake(1);
+#endif
+	waiting = true;
+	return;
+      }
+      id++;
+      mask = mask << 1;
+      if (id > highestPin) {
+      	id = 0;
+	      mask = 1;
+      }
+    }
   }
 }
 #pragma GCC pop_options
@@ -231,4 +247,4 @@ void ADCee::begin() {
   //bitSet(ADCSRA, ADSC); //do not start the ADC yet. Done when we have set the MUX
   interrupts();
 }
-#endif
+#endif

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
@@ -30,24 +30,35 @@
 #ifdef ARDUINO_ARCH_STM32
 
 #include "DCCTimer.h"
+#ifdef DEBUG_ADC
+#include "TrackManager.h"
+#endif
+#include "DIAG.h"
 
 #if defined(ARDUINO_NUCLEO_F411RE)
-// Nucleo-64 boards don't have Serial1 defined by default
+// Nucleo-64 boards don't have additional serial ports defined by default
 HardwareSerial Serial1(PB7, PA15);  // Rx=PB7, Tx=PA15 -- CN7 pins 17 and 21 - F411RE
 // Serial2 is defined to use USART2 by default, but is in fact used as the diag console
 // via the debugger on the Nucleo-64. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
 // Let's define Serial6 as an additional serial port (the only other option for the Nucleo-64s)
 HardwareSerial Serial6(PA12, PA11);  // Rx=PA12, Tx=PA11 -- CN10 pins 12 and 14 - F411RE
 #elif defined(ARDUINO_NUCLEO_F446RE)
-// Nucleo-64 boards don't have Serial1 defined by default
-HardwareSerial Serial1(PA10, PB6);  // Rx=PA10 (D2), Tx=PB6 (D10) -- CN10 pins 17 and 9 - F446RE 
+// Nucleo-64 boards don't have additional serial ports defined by default
+// On the F446RE, Serial1 isn't really useable as it's Rx/Tx pair sit on already used D2/D10 pins
+// 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.
+// On the F446RE, Serial3 and Serial5 are easy to use:
+HardwareSerial Serial3(PC11, PC10);  // Rx=PC11, Tx=PC10 -- USART3 - F446RE
+HardwareSerial Serial5(PD2, PC12);  // Rx=PC7, Tx=PC6 -- UART5 - F446RE
+// On the F446RE, Serial4 and Serial6 also use pins we can't readily map while using the Arduino pins
 #elif defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
 // Nucleo-144 boards don't have Serial1 defined by default
-HardwareSerial Serial1(PG9, PG14);  // Rx=PG9, Tx=PG14 -- D0, D1 - F412ZG/F446ZE
+HardwareSerial Serial6(PG9, PG14);  // Rx=PG9, Tx=PG14 -- USART6
+// Serial3 is defined to use USART3 by default, but is in fact used as the diag console
+// via the debugger on the Nucleo-144. It is therefore unavailable for other DCC-EX uses like WiFi, DFPlayer, etc.
 #else
-#warning Serial1 not defined
+#error STM32 board selected is not yet explicitly supported - so Serial1 peripheral is not defined
 #endif
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
@@ -224,10 +235,16 @@ void DCCTimer::reset() {
     while(true) {};
 }
 
-#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
+// For now, define the max of 16 ports - some variants have more, but this not **yet** supported
+#define NUM_ADC_INPUTS 16
+// #define NUM_ADC_INPUTS NUM_ANALOG_INPUTS
+
 uint16_t ADCee::usedpins = 0;
+uint8_t ADCee::highestPin = 0;
 int * ADCee::analogvals = NULL;
 uint32_t * analogchans = NULL;
 bool adc1configured = false;
@@ -298,6 +315,9 @@ int ADCee::init(uint8_t pin) {
   analogvals[id] = value;     // Store sampled value
   analogchans[id] = adcchan;  // Keep track of which ADC channel is used for reading this pin
   usedpins |= (1 << id);      // This pin is now ready
+  if (id > highestPin) highestPin = id; // Store our highest pin in use
+
+  DIAG(F("ADCee::init(): value=%d, channel=%d, id=%d"), value, adcchan, id);
 
   return value;
 }
@@ -332,11 +352,13 @@ void ADCee::scan() {
     // found value
     analogvals[id] = ADC1->DR;
     // advance at least one track
-    // for scope debug TrackManager::track[1]->setBrake(0);
+#ifdef DEBUG_ADC
+    if (id == 1) TrackManager::track[1]->setBrake(0);
+#endif
     waiting = false;
     id++;
     mask = mask << 1;
-    if (id == NUM_ADC_INPUTS+1) {
+    if (id > highestPin) { // the 1 has been shifted out
       id = 0;
       mask = 1;
     }
@@ -347,18 +369,20 @@ void ADCee::scan() {
     // look for a valid track to sample or until we are around
     while (true) {
       if (mask  & usedpins) {
-    	  // start new ADC aquire on id
+	// start new ADC aquire on id
         ADC1->SQR3 = analogchans[id]; //1st conversion in regular sequence
         ADC1->CR2 |= (1 << 30); //Start 1st conversion SWSTART
-	      // for scope debug TrackManager::track[1]->setBrake(1);
-	      waiting = true;
-	      return;
+#ifdef DEBUG_ADC
+	if (id == 1) TrackManager::track[1]->setBrake(1);
+#endif
+	waiting = true;
+	return;
       }
       id++;
       mask = mask << 1;
-      if (id == NUM_ADC_INPUTS+1) {
-	      id = 0;
-	      mask = 1;
+      if (id > highestPin) {
+      	id = 0;
+      	mask = 1;
       }
     }
   }

DCCWaveform.cpp

@@ -247,6 +247,9 @@ void DCCWaveform::schedulePacket(const byte buffer[], byte byteCount, byte repea
   pendingPacket[byteCount] = checksum;
   pendingLength = byteCount + 1;
   pendingRepeats = repeats;
+// DIAG repeated commands (accesories)
+//  if (pendingRepeats > 0)
+//    DIAG(F("Repeats=%d on %s track"), pendingRepeats, isMainTrack ? "MAIN" : "PROG");
   // The resets will be zero not only now but as well repeats packets into the future
   clearResets(repeats+1);
   {

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==INT16_MAX) break;
     if (rid==id) return 'R';
-    if (rid==0) break;
   }
   for (int16_t i=0;;i+=2) {
     int16_t rid= GETHIGHFLASHW(automationIdList,i);
+    if (rid==INT16_MAX) break;
     if (rid==id) return 'A';
-    if (rid==0) break;
   }
   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
@@ -608,6 +610,7 @@ void RMFT2::loop2() {
       break;
       
   case OPCODE_SPEED:
+    forward=DCC::getThrottleDirection(loco)^invert;
     driveLoco(operand);
     break;
     
@@ -702,11 +705,11 @@ void RMFT2::loop2() {
     DCC::setThrottle(0,1,true);  // pause all locos on the track
     pausingTask=this;
     break;
-    
+
   case OPCODE_POM:
     if (loco) DCC::writeCVByteMain(loco, operand, getOperand(1));
     break;
-    
+
   case OPCODE_POWEROFF:
     TrackManager::setPower(POWERMODE::OFF);
     TrackManager::setJoin(false);
@@ -881,23 +884,18 @@ void RMFT2::loop2() {
     while(loopTask) loopTask->kill(F("KILLALL"));
     return;
 
+#ifndef DISABLE_PROG
   case OPCODE_JOIN:
     TrackManager::setPower(POWERMODE::ON);
     TrackManager::setJoin(true);
     CommandDistributor::broadcastPower();
     break;
-    
-  case OPCODE_POWERON:
-    TrackManager::setMainPower(POWERMODE::ON);
-    TrackManager::setJoin(false);
-    CommandDistributor::broadcastPower();
-    break;
-    
+
   case OPCODE_UNJOIN:
     TrackManager::setJoin(false);
     CommandDistributor::broadcastPower();
     break;
-    
+
   case OPCODE_READ_LOCO1: // READ_LOCO is implemented as 2 separate opcodes
     progtrackLocoId=LOCO_ID_WAITING;  // Nothing found yet
     DCC::getLocoId(readLocoCallback);
@@ -918,6 +916,13 @@ void RMFT2::loop2() {
     forward=true;
     invert=false;
     break;
+#endif
+
+  case OPCODE_POWERON:
+    TrackManager::setMainPower(POWERMODE::ON);
+    TrackManager::setJoin(false);
+    CommandDistributor::broadcastPower();
+    break;
     
   case OPCODE_START:
     {
@@ -1240,7 +1245,10 @@ void RMFT2::thrungeString(uint32_t strfar, thrunger mode, byte id) {
       DCCEXParser::parseOne(&USB_SERIAL,(byte*)buffer->getString(),NULL);
       break;
     case thrunge_broadcast:
-  // TODO     CommandDistributor::broadcastText(buffer->getString());
+      CommandDistributor::broadcastRaw(CommandDistributor::COMMAND_TYPE,buffer->getString());
+      break;
+    case thrunge_withrottle:
+      CommandDistributor::broadcastRaw(CommandDistributor::WITHROTTLE_TYPE,buffer->getString());
       break;
     case thrunge_lcd:
          LCD(id,F("%s"),buffer->getString());

EXRAIL2.h

@@ -1,6 +1,7 @@
 /*
  *  © 2021 Neil McKechnie
  *  © 2020-2022 Chris Harlow
+ *  © 2022 Colin Murdoch
  *  © 2023 Harald Barth
  *  All rights reserved.
  *  
@@ -44,7 +45,10 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
              OPCODE_RED,OPCODE_GREEN,OPCODE_AMBER,OPCODE_DRIVE,
              OPCODE_SERVO,OPCODE_SIGNAL,OPCODE_TURNOUT,OPCODE_WAITFOR,
              OPCODE_PAD,OPCODE_FOLLOW,OPCODE_CALL,OPCODE_RETURN,
-             OPCODE_JOIN,OPCODE_UNJOIN,OPCODE_READ_LOCO1,OPCODE_READ_LOCO2,OPCODE_POM,
+#ifndef DISABLE_PROG
+             OPCODE_JOIN,OPCODE_UNJOIN,OPCODE_READ_LOCO1,OPCODE_READ_LOCO2,
+#endif
+             OPCODE_POM,
              OPCODE_START,OPCODE_SETLOCO,OPCODE_SENDLOCO,OPCODE_FORGET,
              OPCODE_PAUSE, OPCODE_RESUME,OPCODE_POWEROFF,OPCODE_POWERON,
              OPCODE_ONCLOSE, OPCODE_ONTHROW, OPCODE_SERVOTURNOUT, OPCODE_PINTURNOUT,
@@ -76,7 +80,8 @@ enum OPCODE : byte {OPCODE_THROW,OPCODE_CLOSE,
 // Ensure thrunge_lcd is put last as there may be more than one display, 
 // sequentially numbered from thrunge_lcd.
 enum thrunger: byte {
-  thrunge_print, thrunge_broadcast, thrunge_serial,thrunge_parse,
+  thrunge_print, thrunge_broadcast, thrunge_withrottle,
+  thrunge_serial,thrunge_parse,
   thrunge_serial1, thrunge_serial2, thrunge_serial3,
   thrunge_serial4, thrunge_serial5, thrunge_serial6,
   thrunge_lcn, 

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
@@ -100,7 +101,9 @@
 #undef PAUSE
 #undef PIN_TURNOUT 
 #undef PRINT
+#ifndef DISABLE_PROG
 #undef POM
+#endif
 #undef POWEROFF
 #undef POWERON
 #undef READ_LOCO 
@@ -141,6 +144,7 @@
 #undef VIRTUAL_SIGNAL
 #undef VIRTUAL_TURNOUT
 #undef WAITFOR
+#undef WITHROTTLE
 #undef XFOFF
 #undef XFON
 
@@ -222,7 +226,9 @@
 #define PIN_TURNOUT(id,pin,description...) 
 #define PRINT(msg) 
 #define PARSE(msg)
+#ifndef DISABLE_PROG
 #define POM(cv,value)
+#endif
 #define POWEROFF
 #define POWERON
 #define READ_LOCO 
@@ -263,6 +269,7 @@
 #define VIRTUAL_SIGNAL(id) 
 #define VIRTUAL_TURNOUT(id,description...) 
 #define WAITFOR(pin)
+#define WITHROTTLE(msg)
 #define XFOFF(cab,func)
 #define XFON(cab,func)
 #endif

EXRAILMacros.h

@@ -1,6 +1,7 @@
 /*
  *  © 2021 Neil McKechnie
  *  © 2020-2022 Chris Harlow
+ *  © 2022 Colin Murdoch
  *  © 2023 Harald Barth
  *  All rights reserved.
  *  
@@ -80,14 +81,14 @@ void exrailHalSetup() {
 #define ROUTE(id, description) id,
 const int16_t HIGHFLASH RMFT2::routeIdList[]= {
     #include "myAutomation.h"
-    0}; 
+    INT16_MAX};
 // Pass 2a create throttle automation list 
 #include "EXRAIL2MacroReset.h"
 #undef AUTOMATION
 #define AUTOMATION(id, description) id,
 const int16_t HIGHFLASH RMFT2::automationIdList[]= {
     #include "myAutomation.h"
-    0}; 
+    INT16_MAX};
 
 // Pass 3 Create route descriptions:
 #undef ROUTE
@@ -152,6 +153,8 @@ const int StringMacroTracker1=__COUNTER__;
          lcdid=id;\
          break;\
       } 
+#undef WITHROTTLE
+#define WITHROTTLE(msg) THRUNGE(msg,thrunge_withrottle)
 
 void  RMFT2::printMessage(uint16_t id) { 
   thrunger tmode;
@@ -187,7 +190,7 @@ const FSH * RMFT2::getTurnoutDescription(int16_t turnoutid) {
 // Pass 6: Roster IDs (count)
 #include "EXRAIL2MacroReset.h"
 #undef ROSTER
-#define ROSTER(cabid,name,funcmap...) +1
+#define ROSTER(cabid,name,funcmap...) +(cabid <= 0 ? 0 : 1)
 const byte RMFT2::rosterNameCount=0
    #include "myAutomation.h"
    ;
@@ -198,7 +201,7 @@ const byte RMFT2::rosterNameCount=0
 #define ROSTER(cabid,name,funcmap...) cabid,
 const int16_t HIGHFLASH  RMFT2::rosterIdList[]={
    #include "myAutomation.h"
-   0};
+   INT16_MAX};
 
 // Pass 7: Roster names getter
 #include "EXRAIL2MacroReset.h"
@@ -220,7 +223,7 @@ const FSH * RMFT2::getRosterFunctions(int16_t id) {
       #include "myAutomation.h"
    default: break; 
    }   
-   return F("");
+   return NULL;
 } 
 
 // Pass 8 Signal definitions
@@ -324,8 +327,10 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define ONTHROW(turnout_id) OPCODE_ONTHROW,V(turnout_id),
 #define ONCHANGE(sensor_id) OPCODE_ONCHANGE,V(sensor_id),
 #define PAUSE OPCODE_PAUSE,0,0,
-#define PIN_TURNOUT(id,pin,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin), 
+#define PIN_TURNOUT(id,pin,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(pin),
+#ifndef DISABLE_PROG
 #define POM(cv,value) OPCODE_POM,V(cv),OPCODE_PAD,V(value),
+#endif
 #define POWEROFF OPCODE_POWEROFF,0,0,
 #define POWERON OPCODE_POWERON,0,0,
 #define PRINT(msg) OPCODE_PRINT,V(__COUNTER__ - StringMacroTracker2),
@@ -367,6 +372,7 @@ const  HIGHFLASH  int16_t RMFT2::SignalDefinitions[] = {
 #define UNLATCH(sensor_id) OPCODE_UNLATCH,V(sensor_id),
 #define VIRTUAL_SIGNAL(id) 
 #define VIRTUAL_TURNOUT(id,description...) OPCODE_PINTURNOUT,V(id),OPCODE_PAD,V(0), 
+#define WITHROTTLE(msg) PRINT(msg)
 #define WAITFOR(pin) OPCODE_WAITFOR,V(pin),
 #define XFOFF(cab,func) OPCODE_XFOFF,V(cab),OPCODE_PAD,V(func),
 #define XFON(cab,func) OPCODE_XFON,V(cab),OPCODE_PAD,V(func),

GITHUB_SHA.h

@@ -1 +1 @@
-#define GITHUB_SHA "devel-202304111013Z"
+#define GITHUB_SHA "devel-overcurrent-202307061457Z"

IO_RotaryEncoder.h

@@ -1,4 +1,5 @@
 /*
+ *  © 2023, Peter Cole. All rights reserved.
  *  © 2022, Peter Cole. All rights reserved.
  *
  *  This file is part of EX-CommandStation
@@ -28,9 +29,23 @@
 * ONCHANGE(vpin) - flag when the rotary encoder position has changed from the previous position
 * IFRE(vpin, position) - test to see if specified rotary encoder position has been received
 *
-* Further to this, feedback can be sent to the rotary encoder by using 2 Vpins, and sending a SET()/RESET() to the second Vpin.
+* Feedback can also be sent to the rotary encoder by using 2 Vpins, and sending a SET()/RESET() to the second Vpin.
 * A SET(vpin) will flag that a turntable (or anything else) is in motion, and a RESET(vpin) that the motion has finished.
 *
+* In addition, defining a third Vpin will allow a position number to be sent so that when an EXRAIL automation or some other
+* activity has moved a turntable, the position can be reflected in the rotary encoder software. This can be accomplished
+* using the EXRAIL SERVO(vpin, position, profile) command, where:
+* - vpin = the third defined Vpin (any other is ignored)
+* - position = the defined position in the DCC-EX Rotary Encoder software, 0 (Home) to 255
+* - profile = Must be defined as per the SERVO() command, but is ignored as it has no relevance
+*
+* Defining in myAutomation.h requires the device driver to be included in addition to the HAL() statement. Examples:
+*
+* #include "IO_RotaryEncoder.h"
+* HAL(RotaryEncoder, 700, 1, 0x70)    // Define single Vpin, no feedback or position sent to rotary encoder software
+* HAL(RotaryEncoder, 700, 2, 0x70)    // Define two Vpins, feedback only sent to rotary encoder software
+* HAL(RotaryEncoder, 700, 3, 0x70)    // Define three Vpins, can send feedback and position update to rotary encoder software
+*
 * Refer to the documentation for further information including the valid activities and examples.
 */
 
@@ -44,50 +59,79 @@
 
 class RotaryEncoder : public IODevice {
 public:
-  // Constructor
-  RotaryEncoder(VPIN firstVpin, int nPins, I2CAddress i2cAddress){
-    _firstVpin = firstVpin;
-    _nPins = nPins;
-    _I2CAddress = i2cAddress;
-    addDevice(this);
-  }
+  
   static void create(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
     if (checkNoOverlap(firstVpin, nPins, i2cAddress)) new RotaryEncoder(firstVpin, nPins, i2cAddress);
   }
 
 private:
+  // Constructor
+  RotaryEncoder(VPIN firstVpin, int nPins, I2CAddress i2cAddress){
+    _firstVpin = firstVpin;
+    _nPins = nPins;
+    if (_nPins > 3) {
+      _nPins = 3;
+      DIAG(F("RotaryEncoder WARNING:%d vpins defined, only 3 supported"), _nPins);
+    }
+    _I2CAddress = i2cAddress;
+    addDevice(this);
+  }
+
   // Initiate the device
   void _begin() {
+    uint8_t _status;
+    // Attempt to initilalise device
     I2CManager.begin();
     if (I2CManager.exists(_I2CAddress)) {
-      byte _getVersion[1] = {RE_VER};
-      I2CManager.read(_I2CAddress, _versionBuffer, 3, _getVersion, 1);
-      _majorVer = _versionBuffer[0];
-      _minorVer = _versionBuffer[1];
-      _patchVer = _versionBuffer[2];
-      _buffer[0] = RE_OP;
-      I2CManager.write(_I2CAddress, _buffer, 1);
+      // Send RE_RDY, must receive RE_RDY to be online
+      _sendBuffer[0] = RE_RDY;
+      _status = I2CManager.read(_I2CAddress, _rcvBuffer, 1, _sendBuffer, 1);
+      if (_status == I2C_STATUS_OK) {
+        if (_rcvBuffer[0] == RE_RDY) {
+          _sendBuffer[0] = RE_VER;
+          if (I2CManager.read(_I2CAddress, _versionBuffer, 3, _sendBuffer, 1) == I2C_STATUS_OK) {
+            _majorVer = _versionBuffer[0];
+            _minorVer = _versionBuffer[1];
+            _patchVer = _versionBuffer[2];
+          }
+        } else {
+          DIAG(F("RotaryEncoder I2C:%s garbage received: %d"), _I2CAddress.toString(), _rcvBuffer[0]);
+          _deviceState = DEVSTATE_FAILED;
+          return;
+        }
+      } else {
+        DIAG(F("RotaryEncoder I2C:%s ERROR connecting"), _I2CAddress.toString());
+        _deviceState = DEVSTATE_FAILED;
+        return;
+      }
 #ifdef DIAG_IO
       _display();
 #endif
     } else {
-        _deviceState = DEVSTATE_FAILED;
+      DIAG(F("RotaryEncoder I2C:%s device not found"), _I2CAddress.toString());
+      _deviceState = DEVSTATE_FAILED;
     }
   }
 
   void _loop(unsigned long currentMicros) override {
-    I2CManager.read(_I2CAddress, _buffer, 1);
-    _position = _buffer[0];
-    // This here needs to have a change check, ie. position is a different value.
-  #if defined(EXRAIL_ACTIVE)
+    if (_deviceState == DEVSTATE_FAILED) return;  // Return if device has failed
+    if (_i2crb.isBusy()) return;                  // Return if I2C operation still in progress
+
+    if (currentMicros - _lastPositionRead > _positionRefresh) {
+      _lastPositionRead = currentMicros;
+      _sendBuffer[0] = RE_READ;
+      I2CManager.read(_I2CAddress, _rcvBuffer, 1, _sendBuffer, 1, &_i2crb); // Read position from encoder
+      _position = _rcvBuffer[0];
+      // If EXRAIL is active, we need to trigger the ONCHANGE() event handler if it's in use
+#if defined(EXRAIL_ACTIVE)
       if (_position != _previousPosition) {
         _previousPosition = _position;
-        RMFT2::changeEvent(_firstVpin,1);
+        RMFT2::changeEvent(_firstVpin, 1);
       } else {
-        RMFT2::changeEvent(_firstVpin,0);
+        RMFT2::changeEvent(_firstVpin, 0);
       }
-  #endif
-    delayUntil(currentMicros + 100000);
+#endif
+    }
   }
 
   // Device specific read function
@@ -103,6 +147,16 @@ private:
       I2CManager.write(_I2CAddress, _feedbackBuffer, 2);
     }
   }
+
+  void _writeAnalogue(VPIN vpin, int position, uint8_t profile, uint16_t duration) override {
+    if (vpin == _firstVpin + 2) {
+      if (position >= 0 && position <= 255) {
+        byte newPosition = position & 0xFF;
+        byte _positionBuffer[2] = {RE_MOVE, newPosition};
+        I2CManager.write(_I2CAddress, _positionBuffer, 2);
+      }
+    }
+  }
   
   void _display() override {
     DIAG(F("Rotary Encoder I2C:%s v%d.%d.%d Configured on VPIN:%u-%d %S"), _I2CAddress.toString(), _majorVer, _minorVer, _patchVer,
@@ -112,14 +166,21 @@ private:
   int8_t _position;
   int8_t _previousPosition = 0;
   uint8_t _versionBuffer[3];
-  uint8_t _buffer[1];
+  uint8_t _sendBuffer[1];
+  uint8_t _rcvBuffer[1];
   uint8_t _majorVer = 0;
   uint8_t _minorVer = 0;
   uint8_t _patchVer = 0;
+  I2CRB _i2crb;
+  unsigned long _lastPositionRead = 0;
+  const unsigned long _positionRefresh = 100000UL;    // Delay refreshing position for 100ms
 
   enum {
-    RE_VER = 0xA0,   // Flag to retrieve rotary encoder version from the device
-    RE_OP = 0xA1,    // Flag for normal operation
+    RE_RDY = 0xA0,   // Flag to check if encoder is ready for operation
+    RE_VER = 0xA1,   // Flag to retrieve rotary encoder software version
+    RE_READ = 0xA2,  // Flag to read the current position of the encoder
+    RE_OP = 0xA3,    // Flag for operation start/end, sent to when sending feedback on move start/end
+    RE_MOVE = 0xA4,  // Flag for sending a position update from the device driver to the encoder
   };
 
 };

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.
  *  
@@ -27,19 +27,16 @@
 #include "DCCTimer.h"
 #include "DIAG.h"
 
-#if defined(ARDUINO_ARCH_ESP32)
-#include "ESP32-fixes.h"
-#endif
-
-bool MotorDriver::commonFaultPin=false;
+unsigned long MotorDriver::globalOverloadStart = 0;
 
 volatile portreg_t shadowPORTA;
 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) {
-  powerPin=power_pin;
+MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
+                         byte current_pin, float sense_factor, unsigned int trip_milliamps, int16_t fault_pin) {
+  const FSH * warnString = F("** WARNING **");
+
   invertPower=power_pin < 0;
   if (invertPower) {
     powerPin = 0-power_pin;
@@ -95,32 +92,54 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
   }
   else dualSignal=false; 
   
-  brakePin=brake_pin;
   if (brake_pin!=UNUSED_PIN){
     invertBrake=brake_pin < 0;
-    brakePin=invertBrake ? 0-brake_pin : brake_pin;
+    if (invertBrake)
+      brake_pin = 0-brake_pin;
+    if (brake_pin > MAX_PIN)
+      DIAG(F("%S Brake pin %d > %d"), warnString, brake_pin, MAX_PIN);
+    brakePin=(byte)brake_pin;
     getFastPin(F("BRAKE"),brakePin,fastBrakePin);
     // if brake is used for railcom  cutout we need to do PORTX register trick here as well
     pinMode(brakePin, OUTPUT);
     setBrake(true);  // start with brake on in case we hace DC stuff going on
+  } else {
+    brakePin=UNUSED_PIN;
   }
-  else brakePin=UNUSED_PIN;
   
   currentPin=current_pin;
-  if (currentPin!=UNUSED_PIN) ADCee::init(currentPin);
+  if (currentPin!=UNUSED_PIN) {
+    int ret = ADCee::init(currentPin);
+    if (ret < -1010) { // XXX give value a name later
+      DIAG(F("ADCee::init error %d, disable current pin %d"), ret, currentPin);
+      currentPin = UNUSED_PIN;
+    }
+  }
   senseOffset=0; // value can not be obtained until waveform is activated
 
-  faultPin=fault_pin;
-  if (faultPin != UNUSED_PIN) {
+  if (fault_pin != UNUSED_PIN) {
+    invertFault=fault_pin < 0;
+    if (invertFault)
+      fault_pin =  0-fault_pin;
+    if (fault_pin > MAX_PIN)
+      DIAG(F("%S Fault pin %d > %d"), warnString, fault_pin, MAX_PIN);
+    faultPin=(byte)fault_pin;
+    DIAG(F("Fault pin = %d invert %d"), faultPin, invertFault);
     getFastPin(F("FAULT"),faultPin, 1 /*input*/, fastFaultPin);
     pinMode(faultPin, INPUT);
+  } else {
+      faultPin=UNUSED_PIN;
   }
 
   // This conversion performed at compile time so the remainder of the code never needs
   // float calculations or libraray code. 
   senseFactorInternal=sense_factor * senseScale; 
   tripMilliamps=trip_milliamps;
-  rawCurrentTripValue=mA2raw(trip_milliamps);
+#ifdef MAX_CURRENT
+  if (MAX_CURRENT > 0 && MAX_CURRENT < tripMilliamps)
+    tripMilliamps = MAX_CURRENT;
+#endif
+  rawCurrentTripValue=mA2raw(tripMilliamps);
 
   if (rawCurrentTripValue + senseOffset > ADCee::ADCmax()) {
     // This would mean that the values obtained from the ADC never
@@ -135,20 +154,16 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
   }
 
   if (currentPin==UNUSED_PIN) 
-    DIAG(F("** WARNING ** No current or short detection"));
+    DIAG(F("%S No current or short detection"), warnString);
   else  {
-    DIAG(F("Track %c, TripValue=%d"), trackLetter, rawCurrentTripValue);
+    DIAG(F("Pin %d Max %dmA (%d)"), currentPin, raw2mA(rawCurrentTripValue), rawCurrentTripValue);
 
     // self testing diagnostic for the non-float converters... may be removed when happy
     //  DIAG(F("senseFactorInternal=%d raw2mA(1000)=%d mA2Raw(1000)=%d"),
     //   senseFactorInternal, raw2mA(1000),mA2raw(1000));
   }
 
-  // prepare values for current detection
-  sampleDelay = 0;
-  lastSampleTaken = millis();
   progTripValue = mA2raw(TRIP_CURRENT_PROG); 
-
 }
 
 bool MotorDriver::isPWMCapable() {
@@ -157,7 +172,12 @@ bool MotorDriver::isPWMCapable() {
 
 
 void MotorDriver::setPower(POWERMODE mode) {
-  bool on=mode==POWERMODE::ON;
+  if (powerMode == mode) return;
+  //DIAG(F("Track %c POWERMODE=%d"), trackLetter, (int)mode);
+  lastPowerChange[(int)mode] = micros();
+  if (mode == POWERMODE::OVERLOAD)
+    globalOverloadStart = lastPowerChange[(int)mode];
+  bool on=(mode==POWERMODE::ON || mode ==POWERMODE::ALERT);
   if (on) {
     // when switching a track On, we need to check the crrentOffset with the pin OFF
     if (powerMode==POWERMODE::OFF && currentPin!=UNUSED_PIN) {
@@ -197,8 +217,8 @@ bool MotorDriver::canMeasureCurrent() {
   return currentPin!=UNUSED_PIN;
 }
 /*
- * Return the current reading as pin reading 0 to 1023. If the fault
- * pin is activated return a negative current to show active fault pin.
+ * Return the current reading as pin reading 0 to max resolution (1024 or 4096).
+ * If the fault pin is activated return a negative current to show active fault pin.
  * As there is no -0, cheat a little and return -1 in that case.
  * 
  * senseOffset handles the case where a shield returns values above or below 
@@ -215,10 +235,12 @@ int MotorDriver::getCurrentRaw(bool fromISR) {
   // 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)
+  // current >= 0 here, we use negative current as fault pin flag
+  if ((faultPin != UNUSED_PIN) && powerPin) {
+    if (invertFault ? isHIGH(fastFaultPin) : isLOW(fastFaultPin))
       return (current == 0 ? -1 : -current);
+  }
   return current;
-   
 }
 
 #ifdef ANALOG_READ_INTERRUPT
@@ -273,6 +295,7 @@ void MotorDriver::setDCSignal(byte speedcode) {
 #if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
   TCCR2B = (TCCR2B & B11111000) | B00000110; // set divisor on timer 2 to result in (approx) 122.55Hz
   TCCR4B = (TCCR4B & B11111000) | B00000100; // same for timer 4 but maxcount and thus divisor differs
+  TCCR5B = (TCCR5B & B11111000) | B00000100; // same for timer 5 which is like timer 4
 #endif
   // spedcoode is a dcc speed & direction
   byte tSpeed=speedcode & 0x7F; // DCC Speed with 0,1 stop and speed steps 2 to 127
@@ -286,7 +309,7 @@ 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;
@@ -295,7 +318,7 @@ 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
@@ -353,64 +376,166 @@ void  MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & res
     // DIAG(F(" port=0x%x, inoutpin=0x%x, isinput=%d, mask=0x%x"),port, result.inout,input,result.maskHIGH);
 }
 
+///////////////////////////////////////////////////////////////////////////////////////////
+// checkPowerOverload(useProgLimit, trackno)
+// bool useProgLimit: Trackmanager knows if this track is in prog mode or in main mode
+// byte trackno: trackmanager knows it's number (could be skipped?)
+//
+// Short ciruit handling strategy:
+//
+// There are the following power states: ON ALERT OVERLOAD OFF
+// OFF state is only changed to/from manually. Power is on
+// during ON and ALERT. Power is off during OVERLOAD and OFF.
+// The overload mechanism changes between the other states like
+//
+// ON -1-> ALERT -2-> OVERLOAD -3-> ALERT -4-> ON
+// or
+// ON -1-> ALERT -4-> ON
+//
+// Times are in class MotorDriver (MotorDriver.h).
+//
+// 1. ON to ALERT:
+// Transition on fault pin condition or current overload
+//
+// 2. ALERT to OVERLOAD:
+// Transition happens if different timeouts have elapsed.
+// If only the fault pin is active, timeout is
+// POWER_SAMPLE_IGNORE_FAULT_LOW (100ms)
+// If only overcurrent is detected, timeout is
+// POWER_SAMPLE_IGNORE_CURRENT (100ms)
+// If fault pin and overcurrent are active, timeout is
+// POWER_SAMPLE_IGNORE_FAULT_HIGH (5ms)
+// Transition to OVERLOAD turns off power to the affected
+// output (unless fault pins are shared)
+// If the transition conditions are not fullfilled,
+// transition according to 4 is tested.
+//
+// 3. OVERLOAD to ALERT
+// Transiton happens when timeout has elapsed, timeout
+// is named power_sample_overload_wait. It is started
+// at POWER_SAMPLE_OVERLOAD_WAIT (40ms) at first entry
+// to OVERLOAD and then increased by a factor of 2
+// at further entries to the OVERLOAD condition. This
+// happens until POWER_SAMPLE_RETRY_MAX (10sec) is reached.
+// power_sample_overload_wait is reset by a poweroff or
+// a POWER_SAMPLE_ALL_GOOD (5sec) period during ON.
+// After timeout power is turned on again and state
+// goes back to ALERT.
+//
+// 4. ALERT to ON
+// Transition happens by watching the current and fault pin
+// samples during POWER_SAMPLE_ALERT_GOOD (20ms) time. If
+// values have been good during that time, transition is
+// made back to ON. Note that even if state is back to ON,
+// the power_sample_overload_wait time is first reset
+// later (see above).
+//
+// The time keeping is handled by timestamps lastPowerChange[]
+// which are set by each power change and by lastBadSample which
+// keeps track if conditions during ALERT have been good enough
+// to go back to ON. The time differences are calculated by
+// microsSinceLastPowerChange().
+//
+
 void MotorDriver::checkPowerOverload(bool useProgLimit, byte trackno) {
-  if (millis() - lastSampleTaken  < sampleDelay) return;
-  lastSampleTaken = millis();
-  int tripValue= useProgLimit?progTripValue:getRawCurrentTripValue();
-  
-  // Trackname for diag messages later
+
   switch (powerMode) {
-    case POWERMODE::OFF:
-      sampleDelay = POWER_SAMPLE_OFF_WAIT;
-      break;
-    case POWERMODE::ON:
-      // Check current
-      lastCurrent=getCurrentRaw();
-      if (lastCurrent < 0) {
-	  // We have a fault pin condition to take care of
-	  lastCurrent = -lastCurrent;
-	  setPower(POWERMODE::OVERLOAD); // Turn off, decide later how fast to turn on again
-	  if (commonFaultPin) {
-	      if (lastCurrent < tripValue) {
-		      setPower(POWERMODE::ON); // maybe other track
-	      }
-	      // Write this after the fact as we want to turn on as fast as possible
-	      // because we don't know which output actually triggered the fault pin
-	      DIAG(F("COMMON FAULT PIN ACTIVE: POWERTOGGLE TRACK %c"), trackno + 'A');
-	  } else {
-	    DIAG(F("TRACK %c FAULT PIN ACTIVE - OVERLOAD"), trackno + 'A');
-	      if (lastCurrent < tripValue) {
-		  lastCurrent = tripValue; // exaggerate
-	      }
-	  }
-      }
-      if (lastCurrent < tripValue) {
-        sampleDelay = POWER_SAMPLE_ON_WAIT;
-	if(power_good_counter<100)
-	  power_good_counter++;
-	else
-	  if (power_sample_overload_wait>POWER_SAMPLE_OVERLOAD_WAIT) power_sample_overload_wait=POWER_SAMPLE_OVERLOAD_WAIT;
+
+  case POWERMODE::OFF: {
+    lastPowerMode = POWERMODE::OFF;
+    power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
+    break;
+  }
+
+  case POWERMODE::ON: {
+    lastPowerMode = POWERMODE::ON;
+    bool cF = checkFault();
+    bool cC = checkCurrent(useProgLimit);
+    if(cF || cC ) {
+      if (cC) {
+	unsigned int mA=raw2mA(lastCurrent);
+	DIAG(F("TRACK %c ALERT %s %dmA"), trackno + 'A',
+	     cF ? "FAULT" : "",
+	     mA);
       } else {
-        setPower(POWERMODE::OVERLOAD);
-        unsigned int mA=raw2mA(lastCurrent);
-        unsigned int maxmA=raw2mA(tripValue);
-	      power_good_counter=0;
-        sampleDelay = power_sample_overload_wait;
-        DIAG(F("TRACK %c POWER OVERLOAD %dmA (limit %dmA) shutdown for %dms"), trackno + 'A', mA, maxmA, sampleDelay);
-	if (power_sample_overload_wait >= 10000)
-	    power_sample_overload_wait = 10000;
-	else
-	    power_sample_overload_wait *= 2;
+	DIAG(F("TRACK %c ALERT FAULT"), trackno + 'A');
       }
+      setPower(POWERMODE::ALERT);
       break;
-    case POWERMODE::OVERLOAD:
-      // Try setting it back on after the OVERLOAD_WAIT
+    }
+    // all well
+    if (microsSinceLastPowerChange(POWERMODE::ON) > POWER_SAMPLE_ALL_GOOD) {
+      power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
+    }
+    break;
+  }
+
+  case POWERMODE::ALERT: {
+    // set local flags that handle how much is output to diag (do not output duplicates)
+    bool notFromOverload = (lastPowerMode != POWERMODE::OVERLOAD);
+    bool newPowerMode = (powerMode != lastPowerMode);
+    unsigned long now = micros();
+    if (newPowerMode)
+      lastBadSample = now;
+    lastPowerMode = POWERMODE::ALERT;
+    // check how long we have been in this state
+    unsigned long mslpc = microsSinceLastPowerChange(POWERMODE::ALERT);
+    if(checkFault()) {
+      lastBadSample = now;
+      unsigned long timeout = checkCurrent(useProgLimit) ? POWER_SAMPLE_IGNORE_FAULT_HIGH : POWER_SAMPLE_IGNORE_FAULT_LOW;
+      if ( mslpc < timeout) {
+	if (newPowerMode)
+	  DIAG(F("TRACK %c FAULT PIN (%M ignore)"), trackno + 'A', timeout);
+	break;
+      }
+      DIAG(F("TRACK %c FAULT PIN detected after %4M. Pause %4M)"), trackno + 'A', mslpc, power_sample_overload_wait);
+      setPower(POWERMODE::OVERLOAD);
+      break;
+    }
+    if (checkCurrent(useProgLimit)) {
+      lastBadSample = now;
+      if (mslpc < POWER_SAMPLE_IGNORE_CURRENT) {
+	if (newPowerMode) {
+	  unsigned int mA=raw2mA(lastCurrent);
+	  DIAG(F("TRACK %c CURRENT (%M ignore) %dmA"), trackno + 'A', POWER_SAMPLE_IGNORE_CURRENT, mA);
+	}
+	break;
+      }
+      unsigned int mA=raw2mA(lastCurrent);
+      unsigned int maxmA=raw2mA(tripValue);
+      DIAG(F("TRACK %c POWER OVERLOAD %4dmA (max %4dmA) detected after %4M. Pause %4M"),
+	   trackno + 'A', mA, maxmA, mslpc, power_sample_overload_wait);
+      setPower(POWERMODE::OVERLOAD);
+      break;
+    }
+    // all well
+    unsigned long goodtime = micros() - lastBadSample;
+    if (goodtime > POWER_SAMPLE_ALERT_GOOD) {
+      if (true || notFromOverload) { // we did a RESTORE message XXX
+	unsigned int mA=raw2mA(lastCurrent);
+	DIAG(F("TRACK %c NORMAL (after %M/%M) %dmA"), trackno + 'A', goodtime, mslpc, mA);
+      }
       setPower(POWERMODE::ON);
-      sampleDelay = POWER_SAMPLE_ON_WAIT;
-      // Debug code....
-      DIAG(F("TRACK %c POWER RESTORE (check %dms)"), trackno + 'A', sampleDelay);
-      break;
-    default:
-      sampleDelay = 999; // cant get here..meaningless statement to avoid compiler warning.
+    }
+    break;
+  }
+
+  case POWERMODE::OVERLOAD: {
+    lastPowerMode = POWERMODE::OVERLOAD;
+    unsigned long mslpc = (commonFaultPin ? (micros() - globalOverloadStart) : microsSinceLastPowerChange(POWERMODE::OVERLOAD));
+    if (mslpc > power_sample_overload_wait) {
+      // adjust next wait time
+      power_sample_overload_wait *= 2;
+      if (power_sample_overload_wait > POWER_SAMPLE_RETRY_MAX)
+	power_sample_overload_wait = POWER_SAMPLE_RETRY_MAX;
+      // power on test
+      DIAG(F("TRACK %c POWER RESTORE (after %4M)"), trackno + 'A', mslpc);
+      setPower(POWERMODE::ALERT);
+    }
+    break;
+  }
+
+  default:
+    break;
   }
 }

MotorDriver.h

@@ -74,8 +74,9 @@
 // Virtualised Motor shield 1-track hardware Interface
 
 #ifndef UNUSED_PIN     // sync define with the one in MotorDrivers.h
-#define UNUSED_PIN 127 // inside int8_t
+#define UNUSED_PIN 255 // inside uint8_t
 #endif
+#define MAX_PIN 254
 
 class pinpair {
 public:
@@ -106,13 +107,13 @@ extern volatile portreg_t shadowPORTA;
 extern volatile portreg_t shadowPORTB;
 extern volatile portreg_t shadowPORTC;
 
-enum class POWERMODE : byte { OFF, ON, OVERLOAD };
+enum class POWERMODE : byte { OFF, ON, OVERLOAD, ALERT };
 
 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);
+    MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin, 
+                byte current_pin, float senseFactor, unsigned int tripMilliamps, int16_t fault_pin);
     void setPower( POWERMODE mode);
     POWERMODE getPower() { return powerMode;}
     // as the port registers can be shadowed to get syncronized DCC signals
@@ -174,7 +175,10 @@ class MotorDriver {
     bool isPWMCapable();
     bool canMeasureCurrent();
     bool trackPWM = false; // this track uses PWM timer to generate the DCC waveform
-    static bool commonFaultPin; // This is a stupid motor shield which has only a common fault pin for both outputs
+    bool commonFaultPin = false; // This is a stupid motor shield which has only a common fault pin for both outputs
+    inline byte setCommonFaultPin() {
+      return commonFaultPin = true;
+    }
     inline byte getFaultPin() {
 	return faultPin;
     }
@@ -185,6 +189,16 @@ class MotorDriver {
     inline void setTrackLetter(char c) {
       trackLetter = c;
     };
+    // this returns how much time has passed since the last power change. If it
+    // was really long ago (approx > 52min) advance counter approx 35 min so that
+    // we are at 18 minutes again. Times for 32 bit unsigned long.
+    inline unsigned long microsSinceLastPowerChange(POWERMODE mode) {
+      unsigned long now = micros();
+      unsigned long diff = now - lastPowerChange[(int)mode];
+      if (diff > (1UL << (7 *sizeof(unsigned long)))) // 2^(4*7)us = 268.4 seconds
+        lastPowerChange[(int)mode] = now - 30000000UL;           // 30 seconds ago
+      return diff;
+    };
 #ifdef ANALOG_READ_INTERRUPT
     bool sampleCurrentFromHW();
     void startCurrentFromHW();
@@ -193,15 +207,29 @@ class MotorDriver {
     char trackLetter = '?';
     bool isProgTrack = false; // tells us if this is a prog track
     void  getFastPin(const FSH* type,int pin, bool input, FASTPIN & result);
-    void  getFastPin(const FSH* type,int pin, FASTPIN & result) {
+    inline void  getFastPin(const FSH* type,int pin, FASTPIN & result) {
 	getFastPin(type, pin, 0, result);
-    }
+    };
+    // side effect sets lastCurrent and tripValue
+    inline bool checkCurrent(bool useProgLimit) {
+      tripValue= useProgLimit?progTripValue:getRawCurrentTripValue();
+      lastCurrent = getCurrentRaw();
+      if (lastCurrent < 0)
+	lastCurrent = -lastCurrent;
+      return lastCurrent >= tripValue;
+    };
+    // side effect sets lastCurrent
+    inline bool checkFault() {
+      lastCurrent = getCurrentRaw();
+      return lastCurrent < 0;
+    };
     VPIN powerPin;
     byte signalPin, signalPin2, currentPin, faultPin, brakePin;
     FASTPIN fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin;
     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
@@ -215,10 +243,14 @@ class MotorDriver {
     int rawCurrentTripValue;
     // current sampling
     POWERMODE powerMode;
-    unsigned long lastSampleTaken;
-    unsigned int sampleDelay;
+    POWERMODE lastPowerMode;
+    unsigned long lastPowerChange[4];         // timestamp in microseconds
+    unsigned long lastBadSample;              // timestamp in microseconds
+    // used to sync restore time when common Fault pin detected
+    static unsigned long globalOverloadStart; // timestamp in microseconds
     int progTripValue;
-    int  lastCurrent;
+    int  lastCurrent; //temp value
+    int  tripValue;   //temp value
 #ifdef ANALOG_READ_INTERRUPT
     volatile unsigned long sampleCurrentTimestamp;
     volatile uint16_t sampleCurrent;
@@ -226,10 +258,21 @@ class MotorDriver {
     int maxmA;
     int tripmA;
 
-    // Wait times for power management. Unit: milliseconds
-    static const int  POWER_SAMPLE_ON_WAIT = 100;
-    static const int  POWER_SAMPLE_OFF_WAIT = 1000;
-    static const int  POWER_SAMPLE_OVERLOAD_WAIT = 20;
+    // Times for overload management. Unit: microseconds.
+    // Base for wait time until power is turned on again
+    static const unsigned long POWER_SAMPLE_OVERLOAD_WAIT =     40000UL;
+    // Time after we consider all faults old and forgotten
+    static const unsigned long POWER_SAMPLE_ALL_GOOD =        5000000UL;
+    // Time after which we consider a ALERT over 
+    static const unsigned long POWER_SAMPLE_ALERT_GOOD =        20000UL;
+    // How long to ignore fault pin if current is under limit
+    static const unsigned long POWER_SAMPLE_IGNORE_FAULT_LOW = 100000UL;
+    // How long to ignore fault pin if current is higher than limit
+    static const unsigned long POWER_SAMPLE_IGNORE_FAULT_HIGH =  5000UL;
+    // How long to wait between overcurrent and turning off
+    static const unsigned long POWER_SAMPLE_IGNORE_CURRENT  =  100000UL;
+    // Upper limit for retry period
+    static const unsigned long POWER_SAMPLE_RETRY_MAX =      10000000UL;
     
     // Trip current for programming track, 250mA. Change only if you really
     // need to be non-NMRA-compliant because of decoders that are not either.

MotorDrivers.h

@@ -1,7 +1,7 @@
 /*
- *  © 2022 Paul M. Antoine
+ *  © 2022-2023 Paul M. Antoine
  *  © 2021 Fred Decker
- *  © 2020-2022 Harald Barth
+ *  © 2020-2023 Harald Barth
  *  (c) 2020 Chris Harlow. All rights reserved.
  *  (c) 2021 Fred Decker.  All rights reserved.
  *  (c) 2020 Harald Barth. All rights reserved.
@@ -36,7 +36,7 @@
 // custom defines in config.h.
 
 #ifndef UNUSED_PIN     // sync define with the one in MotorDriver.h
-#define UNUSED_PIN 127 // inside int8_t
+#define UNUSED_PIN 255 // inside uint8_t
 #endif
 
 // The MotorDriver definition is:
@@ -60,7 +60,8 @@
 // Arduino STANDARD Motor Shield, used on different architectures:
 
 #if defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
-// Setup for SAMD21 Sparkfun DEV board using Arduino standard Motor Shield R3 (MUST be R3
+// Standard Motor Shield definition for 3v3 processors (other than the ESP32)
+// Setup for SAMD21 Sparkfun DEV board MUST use Arduino Motor Shield R3 (MUST be R3
 // for 3v3 compatibility!!) senseFactor for 3.3v systems is 1.95 as calculated when using
 // 10-bit A/D samples, and for 12-bit samples it's more like 0.488, but we probably need
 // to tweak both these
@@ -70,15 +71,27 @@
 #define SAMD_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
 #define STM32_STANDARD_MOTOR_SHIELD STANDARD_MOTOR_SHIELD
 
+// EX 8874 based shield connected to a 3V3 system with 12-bit (4096) ADC
+#define EX8874_SHIELD F("EX8874"), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 1.27, 5000, A4), \
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 1.27, 5000, A5)
+
+
 #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 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)
+
+// EX 8874 based shield connected to a 3.3V system (like ESP32) and 12bit (4096) ADC
+// numbers are GPIO numbers. comments are UNO form factor shield pin numbers
+#define EX8874_SHIELD F("EX8874"),\
+ new MotorDriver(25/* 3*/, 19/*12*/, UNUSED_PIN, 13/*9*/, 35/*A2*/, 1.27, 5000, 36 /*A4*/), \
+ new MotorDriver(23/*11*/, 18/*13*/, UNUSED_PIN, 12/*8*/, 34/*A3*/, 1.27, 5000, 39 /*A5*/)
 
 #else
 // STANDARD shield on any Arduino Uno or Mega compatible with the original specification.
@@ -88,6 +101,12 @@
 #define BRAKE_PWM_SWAPPED_MOTOR_SHIELD F("BPS_MOTOR_SHIELD"),                                       \
                               new MotorDriver(-9 , 12, UNUSED_PIN, -3, A0, 2.99, 1500, UNUSED_PIN), \
                               new MotorDriver(-8 , 13, UNUSED_PIN,-11, A1, 2.99, 1500, UNUSED_PIN)
+
+// EX 8874 based shield connected to a 5V system (like Arduino) and 10bit (1024) ADC
+#define EX8874_SHIELD F("EX8874"), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 5.08, 5000, A4), \
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 5.08, 5000, A5)
+
 #endif
 
 // Pololu Motor Shield

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) {

StringFormatter.cpp

@@ -117,6 +117,24 @@ void StringFormatter::send2(Print * stream,const FSH* format, va_list args) {
       case 'o': stream->print(va_arg(args, int), OCT); break;
       case 'x': stream->print((unsigned int)va_arg(args, unsigned int), HEX); break;
       case 'X': stream->print((unsigned long)va_arg(args, unsigned long), HEX); break;
+      case 'M':
+      { // this prints a unsigned long microseconds time in readable format
+	unsigned long time = va_arg(args, long);
+	if (time >= 2000) {
+	  time = time / 1000;
+	  if (time >= 2000) {
+	    printPadded(stream, time/1000, formatWidth, formatLeft);
+	    stream->print(F("sec"));
+	  } else {
+	    printPadded(stream,time, formatWidth, formatLeft);
+	    stream->print(F("msec"));
+	  }
+	} else {
+	  printPadded(stream,time, formatWidth, formatLeft);
+	  stream->print(F("usec"));
+	}
+      }
+      break;
       //case 'f': stream->print(va_arg(args, double), 2); break;
       //format width prefix
       case '-': 

TrackManager.cpp

@@ -33,8 +33,9 @@
         FOR_EACH_TRACK(t) \
             if (trackMode[t]==findmode) \
                 track[t]->function;
-
+#ifndef DISABLE_PROG
 const int16_t HASH_KEYWORD_PROG = -29718;
+#endif
 const int16_t HASH_KEYWORD_MAIN = 11339;
 const int16_t HASH_KEYWORD_OFF = 22479;  
 const int16_t HASH_KEYWORD_DC = 2183;  
@@ -116,12 +117,24 @@ void TrackManager::Setup(const FSH * shieldname,
     
     // Default the first 2 tracks (which may be null) and perform HA waveform check.
     setTrackMode(0,TRACK_MODE_MAIN);
+#ifndef DISABLE_PROG
     setTrackMode(1,TRACK_MODE_PROG);
+#else
+    setTrackMode(1,TRACK_MODE_MAIN);
+#endif
   
-  // TODO Fault pin config for odd motor boards (example pololu)
-  // MotorDriver::commonFaultPin = ((mainDriver->getFaultPin() == progDriver->getFaultPin())
-  //				 && (mainDriver->getFaultPin() != UNUSED_PIN));
-  DCC::begin(shieldname);   
+  // Fault pin config for odd motor boards (example pololu)
+  FOR_EACH_TRACK(t) {
+    for (byte s=t+1;s<=lastTrack;s++) {
+      if (track[t]->getFaultPin() != UNUSED_PIN &&
+	  track[t]->getFaultPin() == track[s]->getFaultPin()) {
+	track[t]->setCommonFaultPin();
+	track[s]->setCommonFaultPin();
+	DIAG(F("Common Fault pin tracks %c and %c"), t+'A', s+'A');
+      }
+    }
+  }
+  DCC::setShieldName(shieldname);
 }
 
 void TrackManager::addTrack(byte t, MotorDriver* driver) {
@@ -198,7 +211,11 @@ bool TrackManager::setTrackMode(byte trackToSet, TRACK_MODE mode, int16_t dcAddr
       pinMode(p.invpin, OUTPUT); // gpio_reset_pin may reset to input
     }
 #endif
+#ifndef DISABLE_PROG
     if (mode==TRACK_MODE_PROG) {
+#else
+    if (false) {
+#endif
       // only allow 1 track to be prog
       FOR_EACH_TRACK(t)
 	if (trackMode[t]==TRACK_MODE_PROG && t != trackToSet) {
@@ -306,8 +323,10 @@ bool TrackManager::parseJ(Print *stream, int16_t params, int16_t p[])
     if (params==2  && p[1]==HASH_KEYWORD_MAIN) // <= id MAIN>
         return setTrackMode(p[0],TRACK_MODE_MAIN);
     
+#ifndef DISABLE_PROG
     if (params==2  && p[1]==HASH_KEYWORD_PROG) // <= id PROG>
         return setTrackMode(p[0],TRACK_MODE_PROG);
+#endif
     
     if (params==2  && p[1]==HASH_KEYWORD_OFF) // <= id OFF>
         return setTrackMode(p[0],TRACK_MODE_OFF);
@@ -332,9 +351,11 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
   case TRACK_MODE_MAIN:
       format=F("<= %c MAIN>\n");
       break;
+#ifndef DISABLE_PROG
   case TRACK_MODE_PROG:
       format=F("<= %c PROG>\n");
       break;
+#endif
   case TRACK_MODE_OFF:
       format=F("<= %c OFF>\n");
       break;
@@ -357,8 +378,10 @@ void TrackManager::streamTrackState(Print* stream, byte t) {
 byte TrackManager::nextCycleTrack=MAX_TRACKS;
 
 void TrackManager::loop() {
-    DCCWaveform::loop(); 
-    DCCACK::loop(); 
+    DCCWaveform::loop();
+#ifndef DISABLE_PROG
+    DCCACK::loop();
+#endif
     bool dontLimitProg=DCCACK::isActive() || progTrackSyncMain || progTrackBoosted;
     nextCycleTrack++;
     if (nextCycleTrack>lastTrack) nextCycleTrack=0;

TrackManager.h

@@ -84,8 +84,15 @@ class TrackManager {
 
     static int16_t joinRelay;
     static bool progTrackSyncMain;  // true when prog track is a siding switched to main
-     static bool progTrackBoosted;   // true when prog track is not current limited
-    
+    static bool progTrackBoosted;   // true when prog track is not current limited
+
+#ifdef DEBUG_ADC
+  public:
+#else
+  private:
+#endif
+    static MotorDriver* track[MAX_TRACKS];
+
   private:
     static void addTrack(byte t, MotorDriver* driver);
     static byte lastTrack;
@@ -93,7 +100,6 @@ class TrackManager {
     static POWERMODE mainPowerGuess;
     static void applyDCSpeed(byte t);
 
-    static MotorDriver* track[MAX_TRACKS];
     static TRACK_MODE trackMode[MAX_TRACKS]; 
     static int16_t trackDCAddr[MAX_TRACKS];  // dc address if TRACK_MODE_DC or TRACK_MODE_DCX
 #ifdef ARDUINO_ARCH_ESP32

Turnouts.cpp

@@ -250,6 +250,7 @@
       }
     }
     tt = (Turnout *)new ServoTurnout(id, vpin, thrownPosition, closedPosition, profile, closed);
+    DIAG(F("Turnout 0x%x size %d size %d"), tt, sizeof(Turnout),sizeof(struct TurnoutData));
     IODevice::writeAnalogue(vpin, closed ? closedPosition : thrownPosition, PCA9685::Instant);
     return tt;
 #else

Turnouts.h

@@ -69,10 +69,12 @@ protected:
     uint16_t id;
   } _turnoutData;  // 3 bytes
 
+#ifndef DISABLE_EEPROM
   // Address in eeprom of first byte of the _turnoutData struct (containing the closed flag).
   // Set to zero if the object has not been saved in EEPROM, e.g. for newly created Turnouts, and 
   // for all LCN turnouts.
   uint16_t _eepromAddress = 0;
+#endif
 
   // Pointer to next turnout on linked list.
   Turnout *_nextTurnout = 0;

WiThrottle.cpp

@@ -235,6 +235,10 @@ int WiThrottle::getLocoId(byte * cmd) {
 void WiThrottle::multithrottle(RingStream * stream, byte * cmd){ 
   char throttleChar=cmd[1];
   int locoid=getLocoId(cmd+3); // -1 for *
+  if (locoid > 10239 || locoid < -1) {
+    StringFormatter::send(stream, F("No valid DCC loco %d\n"), locoid);
+    return;
+  }
   byte * aval=cmd;
   while(*aval !=';' && *aval !='\0') aval++;
   if (*aval) aval+=2;  // skip ;>
@@ -527,10 +531,13 @@ void WiThrottle::sendRoster(Print* stream) {
   rosterSent=true;
 #ifdef EXRAIL_ACTIVE
   StringFormatter::send(stream,F("RL%d"), RMFT2::rosterNameCount);
-  for (int16_t r=0;r<RMFT2::rosterNameCount;r++) {
+  for (int16_t r=0;;r++) {
       int16_t cabid=GETHIGHFLASHW(RMFT2::rosterIdList,r*2);
-      StringFormatter::send(stream,F("]\\[%S}|{%d}|{%c"),
-      RMFT2::getRosterName(cabid),cabid,cabid<128?'S':'L');
+      if (cabid == INT16_MAX)
+	break;
+      if (cabid > 0)
+	StringFormatter::send(stream,F("]\\[%S}|{%d}|{%c"),
+			      RMFT2::getRosterName(cabid),cabid,cabid<128?'S':'L');
   }
   StringFormatter::send(stream,F("\n"));       
 #else
@@ -544,14 +551,14 @@ void WiThrottle::sendRoutes(Print* stream) {
     // first pass automations
     for (int ix=0;;ix+=2) {
         int16_t id =GETHIGHFLASHW(RMFT2::automationIdList,ix);
-        if (id==0) break;
+        if (id==INT16_MAX) break;
         const FSH * desc=RMFT2::getRouteDescription(id);
         StringFormatter::send(stream,F("]\\[A%d}|{%S}|{4"),id,desc);
     }
     // second pass routes.
     for (int ix=0;;ix+=2) {
         int16_t id=GETHIGHFLASHW(RMFT2::routeIdList,ix);
-        if (id==0) break;
+        if (id==INT16_MAX) break;
         const FSH * desc=RMFT2::getRouteDescription(id);
         StringFormatter::send(stream,F("]\\[R%d}|{%S}|{2"),id,desc);
     }
@@ -567,9 +574,13 @@ void WiThrottle::sendFunctions(Print* stream, byte loco) {
 	myLocos[loco].functionToggles=1<<2; // F2 (HORN)  is a non-toggle
         
 #ifdef EXRAIL_ACTIVE
-	const char * functionNames=(char *) RMFT2::getRosterFunctions(locoid);
-	if (!functionNames) {
-	  // no roster, use non-exrail presets as above 
+	const FSH * functionNames= RMFT2::getRosterFunctions(locoid);
+	if (functionNames == NULL) {
+	  // no roster entry for locoid, try to find default entry
+	  functionNames= RMFT2::getRosterFunctions(0);
+	}
+	if (functionNames == NULL) {
+	  // no default roster entry either, use non-exrail presets as above 
 	}
 	else if (GETFLASH(functionNames)=='\0') {
 	  // "" = Roster but no functions given
@@ -584,7 +595,7 @@ void WiThrottle::sendFunctions(Print* stream, byte loco) {
 	  fkeys=0;
 	  bool firstchar=true;
 	  for (int fx=0;;fx++) {
-	    char c=GETFLASH(functionNames+fx);
+	    char c=GETFLASH((char *)functionNames+fx);
 	    if (c=='\0') {
 	      fkeys++;
 	      break;

WifiESP32.cpp

@@ -1,4 +1,5 @@
 /*
+    © 2023, Paul M. Antoine
     © 2021, Harald Barth.
 
     This file is part of CommandStation-EX
@@ -20,6 +21,7 @@
 #if defined(ARDUINO_ARCH_ESP32)
 #include <vector>
 #include "defines.h"
+#include "ESPmDNS.h"
 #include <WiFi.h>
 #include "esp_wifi.h"
 #include "WifiESP32.h"
@@ -105,6 +107,12 @@ void wifiLoop(void *){
 }
 #endif
 
+char asciitolower(char in) {
+  if (in <= 'Z' && in >= 'A')
+    return in - ('Z' - 'z');
+  return in;
+}
+
 bool WifiESP::setup(const char *SSid,
                     const char *password,
                     const char *hostname,
@@ -138,6 +146,7 @@ bool WifiESP::setup(const char *SSid,
     havePassword = false;
 
   if (haveSSID && havePassword) {
+    WiFi.setHostname(hostname); // Strangely does not work unless we do it HERE!
     WiFi.mode(WIFI_STA);
 #ifdef SERIAL_BT_COMMANDS
     WiFi.setSleep(true);
@@ -176,12 +185,14 @@ bool WifiESP::setup(const char *SSid,
   }
   if (!haveSSID) {
     // prepare all strings
-    String strSSID("DCC_");
+    String strSSID("DCCEX_");
     String strPass("PASS_");
     String strMac = WiFi.macAddress();
     strMac.remove(0,9);
     strMac.replace(":","");
     strMac.replace(":","");
+    // convert mac addr hex chars to lower case to be compatible with AT software
+    std::transform(strMac.begin(), strMac.end(), strMac.begin(), asciitolower);
     strSSID.concat(strMac);
     strPass.concat(strMac);
 
@@ -209,6 +220,15 @@ bool WifiESP::setup(const char *SSid,
     // no idea to go on
     return false;
   }
+
+  // Now Wifi is up, register the mDNS service
+  if(!MDNS.begin(hostname)) {
+    DIAG(F("Wifi setup failed to start mDNS"));
+  }
+  if(!MDNS.addService("withrottle", "tcp", 2560)) {
+    DIAG(F("Wifi setup failed to add withrottle service to mDNS"));
+  }
+
   server = new WiFiServer(port); // start listening on tcp port
   server->begin();
   // server started here

WifiInterface.cpp

@@ -52,10 +52,30 @@ Stream * WifiInterface::wifiStream;
  
 #if (defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560))
 #define NUM_SERIAL 3
+#define SERIAL1 Serial1
+#define SERIAL3 Serial3
+#endif
+
+#if defined(ARDUINO_ARCH_STM32)
+// Handle serial ports availability on STM32 for variants!
+// #undef NUM_SERIAL
+#if defined(ARDUINO_NUCLEO_F411RE)
+#define NUM_SERIAL 3
+#define SERIAL1 Serial1
+#define SERIAL3 Serial6
+#elif defined(ARDUINO_NUCLEO_F446RE)
+#define NUM_SERIAL 3
+#define SERIAL1 Serial3
+#define SERIAL3 Serial5
+#elif defined(ARDUINO_NUCLEO_F412ZG) || defined(ARDUINO_NUCLEO_F429ZI) || defined(ARDUINO_NUCLEO_F446ZE)
+#define NUM_SERIAL 2
+#define SERIAL1 Serial6
+#endif
 #endif
 
 #ifndef NUM_SERIAL
 #define NUM_SERIAL 1
+#define SERIAL1 Serial1
 #endif
 
 bool WifiInterface::setup(long serial_link_speed, 
@@ -76,13 +96,16 @@ bool WifiInterface::setup(long serial_link_speed,
   (void) port;
   (void) channel;
 #endif  
-  
+
+// See if the WiFi is attached to the first serial port
 #if NUM_SERIAL > 0 && !defined(SERIAL1_COMMANDS)
-  Serial1.begin(serial_link_speed);
-  wifiUp = setup(Serial1, wifiESSID, wifiPassword, hostname, port, channel);
+  SERIAL1.begin(serial_link_speed);
+  wifiUp = setup(SERIAL1, wifiESSID, wifiPassword, hostname, port, channel);
 #endif
 
 // Other serials are tried, depending on hardware.
+// Currently only the Arduino Mega 2560 has usable Serial2 (Nucleo-64 boards use Serial 2 for console!)
+#if defined(ARDUINO_AVR_MEGA2560)
 #if NUM_SERIAL > 1 && !defined(SERIAL2_COMMANDS)
   if (wifiUp == WIFI_NOAT)
   {
@@ -90,12 +113,15 @@ bool WifiInterface::setup(long serial_link_speed,
     wifiUp = setup(Serial2, wifiESSID, wifiPassword, hostname, port, channel);
   }
 #endif
-  
+#endif
+
+// We guess here that in all architctures that have a Serial3
+// we can use it for our purpose.
 #if NUM_SERIAL > 2 && !defined(SERIAL3_COMMANDS)
   if (wifiUp == WIFI_NOAT)
   {
-    Serial3.begin(serial_link_speed);
-    wifiUp = setup(Serial3, wifiESSID, wifiPassword, hostname, port, channel);
+    SERIAL3.begin(serial_link_speed);
+    wifiUp = setup(SERIAL3, wifiESSID, wifiPassword, hostname, port, channel);
   }
 #endif
 

config.example.h

@@ -1,7 +1,7 @@
 /*
  *  © 2022 Paul M. Antoine
  *  © 2021 Neil McKechnie
- *  © 2020-2021 Harald Barth
+ *  © 2020-2023 Harald Barth
  *  © 2020-2021 Fred Decker
  *  © 2020-2021 Chris Harlow
  *  
@@ -27,6 +27,16 @@ The configuration file for DCC-EX Command Station
 
 **********************************************************************/
 
+/////////////////////////////////////////////////////////////////////////////////////
+// If you want to add your own motor driver definition(s), add them here
+//   For example MY_SHIELD with display name "MINE":
+//   (remove comment start and end marker if you want to edit and use that)
+/* 
+#define MY_SHIELD F("MINE"), \
+ new MotorDriver( 3, 12, UNUSED_PIN, 9, A0, 5.08, 3000, A4), \
+ new MotorDriver(11, 13, UNUSED_PIN, 8, A1, 5.08, 1500, A5)
+*/
+
 /////////////////////////////////////////////////////////////////////////////////////
 //  NOTE: Before connecting these boards and selecting one in this software
 //        check the quick install guides!!! Some of these boards require a voltage
@@ -34,19 +44,34 @@ The configuration file for DCC-EX Command Station
 //        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:
+// DEFINE MOTOR_SHIELD_TYPE BELOW. THESE ARE EXAMPLES. FULL LIST IN MotorDrivers.h
 //
 //  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)
-//  POLOLU_TB9051FTG      : Pololu Dual TB9051FTG Motor Driver
 //  FUNDUMOTO_SHIELD      : Fundumoto Shield, no current sensing (not recommended, no short protection)
 //  FIREBOX_MK1           : The Firebox MK1                    
 //  FIREBOX_MK1S          : The Firebox MK1S
 //  IBT_2_WITH_ARDUINO    : Arduino Motor Shield for PROG and IBT-2 for MAIN
+//  EX8874_SHIELD         : DCC-EX TI DRV8874 based motor shield
 //   |
 //   +-----------------------v
 //
 #define MOTOR_SHIELD_TYPE STANDARD_MOTOR_SHIELD
+//
+/////////////////////////////////////////////////////////////////////////////////////
+//
+// If you want to restrict the maximum current LOWER than what your
+// motor shield can provide, you can do that here. For example if you
+// have a motor shield that can provide 5A and your power supply can
+// only provide 2.5A then you should restict the maximum current to
+// 2.25A (90% of 2.5A) so that DCC-EX does shut off the track before
+// your PS does shut DCC-EX. MAX_CURRENT is in mA so for this example
+// it would be 2250, adjust the number according to your PS. If your
+// PS has a higher rating than your motor shield you do not need this.
+// You can use this as well if you are cautious and your trains do not
+// need full current.
+// #define MAX_CURRENT 2250
+//
 /////////////////////////////////////////////////////////////////////////////////////
 //
 // The IP port to talk to a WIFI or Ethernet shield.
@@ -128,7 +153,7 @@ The configuration file for DCC-EX Command Station
 //OR define OLED_DRIVER width,height[,address] in pixels (address auto detected if not supplied)
 // 128x32 or 128x64 I2C SSD1306-based devices are supported.
 // Use 132,64 for a SH1106-based I2C device with a 128x64 display.
-// #define OLED_DRIVER 128,32,0x3c
+// #define OLED_DRIVER 0x3c,128,32
 
 // Define scroll mode as 0, 1 or 2
 //  *  #define SCROLLMODE 0 is scroll continuous (fill screen if poss),
@@ -141,7 +166,7 @@ The configuration file for DCC-EX Command Station
 //
 // 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
+// and want to use the EXRAIL automation. Otherwise you do not have enough RAM
 // to do that. Of course, then none of the EEPROM related commands work.
 //
 // EEPROM does not work on ESP32. So on ESP32, EEPROM will always be disabled,
@@ -149,6 +174,17 @@ The configuration file for DCC-EX Command Station
 //
 // #define DISABLE_EEPROM
 
+/////////////////////////////////////////////////////////////////////////////////////
+// DISABLE PROG
+//
+// If you do not need programming capability, you can disable all programming related
+// commands. You might want to do that if you are using an Arduino UNO and still want
+// to use EXRAIL automation, as the Uno is lacking in RAM and Flash to run both.
+// 
+// Note this disables all programming functionality, including EXRAIL.
+//
+// #define DISABLE_PROG
+
 /////////////////////////////////////////////////////////////////////////////////////
 // REDEFINE WHERE SHORT/LONG ADDR break is. According to NMRA the last short address
 // is 127 and the first long address is 128. There are manufacturers which have
@@ -224,5 +260,15 @@ The configuration file for DCC-EX Command Station
 //
 //#define SERIAL_BT_COMMANDS
 
+// SABERTOOTH
+//
+// This is a very special option and only useful if you happen to have a
+// sabertooth motor controller from dimension engineering configured to
+// take commands from and ESP32 via serial at 9600 baud from GPIO17 (TX)
+// and GPIO16 (RX, currently unused).
+// The number defined is the DCC address for which speed controls are sent
+// to the sabertooth controller _as_well_. Default: Undefined.
+//
+//#define SABERTOOTH 1
 
 /////////////////////////////////////////////////////////////////////////////////////

config.h.txt

@@ -1,169 +0,0 @@
-/**********************************************************************
-
-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
-
-/////////////////////////////////////////////////////////////////////////////////////

defines.h

@@ -148,7 +148,6 @@
   #define I2C_USE_WIRE
   #endif
 
-
 /* TODO when ready 
 #elif defined(ARDUINO_ARCH_RP2040)
   #define ARDUINO_TYPE "RP2040"
@@ -206,7 +205,7 @@
 #define WIFI_SERIAL_LINK_SPEED 115200
 
 #if __has_include ( "myAutomation.h")
-  #if defined(HAS_ENOUGH_MEMORY) || defined(DISABLE_EEPROM)
+  #if defined(HAS_ENOUGH_MEMORY) || defined(DISABLE_EEPROM) || defined(DISABLE_PROG)
     #define EXRAIL_ACTIVE
   #else
     #define EXRAIL_WARNING

installer.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 #
-# © 2022 Harald Barth
+# © 2022,2023 Harald Barth
 # 
 # This file is part of CommandStation-EX
 #
@@ -29,14 +29,33 @@ ACLI="./bin/arduino-cli"
 
 function need () {
     type -p $1 > /dev/null && return
+    dpkg -l $1 2>&1 | egrep ^ii >/dev/null && return
     sudo apt-get install $1
     type -p $1 > /dev/null && return
     echo "Could not install $1, abort"
     exit 255
 }
 
-
 need git
+
+if cat /etc/issue | egrep '^Raspbian' 2>&1 >/dev/null ; then
+    # we are on a raspi where we do not support graphical
+    unset DISPLAY
+fi
+
+if [ x$DISPLAY != x ] ; then
+    # we have DISPLAY, do the graphic thing
+    need python3-tk
+    need python3.8-venv
+    mkdir -p ~/ex-installer/venv
+    python3 -m venv ~/ex-installer/venv
+    cd ~/ex-installer/venv || exit 255
+    source ./bin/activate
+    git clone https://github.com/DCC-EX/EX-Installer
+    cd EX-Installer || exit 255
+    pip3 install -r requirements.txt
+    exec python3 -m ex_installer
+fi
 if test -d `basename "$DCCEXGITURL"` ; then
     : assume we are almost there
     cd `basename "$DCCEXGITURL"` || exit 255

platformio.ini

@@ -173,6 +173,8 @@ board = esp32dev
 framework = arduino
 lib_deps = ${env.lib_deps}
 build_flags = -std=c++17
+monitor_speed = 115200
+monitor_echo = yes
 
 [env:Nucleo-F411RE]
 platform = ststm32
@@ -188,7 +190,7 @@ platform = ststm32
 board = nucleo_f446re
 framework = arduino
 lib_deps = ${env.lib_deps}
-build_flags = -std=c++17  -Os -g2 -Wunused-variable -DDIAG_LOOPTIMES ; -DDIAG_IO 
+build_flags = -std=c++17  -Os -g2 -Wunused-variable ; -DDIAG_LOOPTIMES ; -DDIAG_IO 
 monitor_speed = 115200
 monitor_echo = yes
 

version.h

@@ -4,7 +4,31 @@
 #include "StringFormatter.h"
 
 
-#define VERSION "4.2.45"
+#define VERSION "4.2.62pre3"
+// 4.2.62 - completely new overcurrent detection
+//        - ESP32 protect from race in RMT code
+// 4.2.61 - MAX_CURRENT restriction (caps motor shield value)
+// 4.2.60 - Add mDNS capability to ESP32 for autodiscovery
+// 4.2.59 - Fix: AP SSID was DCC_ instead of DCCEX_
+// 4.2.58 - Start motordriver as soon as possible but without waveform
+// 4.2.57 - New overload handling (faster and handles commonFaultPin again)
+//        - Optimize analog read STM32
+// 4.2.56 - Update IO_RotaryEncoder.h:
+//        - Improved I2C communication, non-blocking reads
+//        - Enable sending positions to the encoder from EXRAIL via SERVO()
+// 4.2.55 - Optimize analog read for AVR
+// 4.2.54 - EX8874 shield in config.example.h
+//        - Fix: Better warnings for pin number errors
+//        - Fix: Default roster list possible in Withrottle and <jR>
+//        - Fix: Pin handling supports pins up to 254
+// 4.2.53 - Fix: Fault pin handling made more straight forward
+// 4.2.52 - Experimental support for sabertooth motor controller on ESP32
+// 4.2.51 - Add DISABLE_PROG to disable programming to save RAM/Flash
+// 4.2.50 - Fixes: estop all, turnout eeprom, cab ID check
+// 4.2.49 - Exrail SPEED take notice of external direction change 
+// 4.2.48 - BROADCAST/WITHROTTLE Exrail macros 
+// 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