corrected method description

add cache of CV29 value

NmraDcc.h

@@ -32,7 +32,7 @@
 // Uncomment the following Line to Enable Service Mode CV Programming
 #define NMRA_DCC_PROCESS_SERVICEMODE
 
-// Uncomment the following line to Enable MutliFunction Decoder Operations
+// Uncomment the following line to Enable MultiFunction Decoder Operations
 #define NMRA_DCC_PROCESS_MULTIFUNCTION
 
 // Uncomment the following line to Enable 14 Speed Step Support
@@ -49,7 +49,7 @@
 #ifndef NMRADCC_IS_IN
 #define NMRADCC_IS_IN
 
-#define NMRADCC_VERSION     200     // Version 2.0.0
+#define NMRADCC_VERSION     201     // Version 2.0.1
 
 #define MAX_DCC_MESSAGE_LEN 6    // including XOR-Byte
 
@@ -96,14 +96,17 @@ typedef struct
 #define CV_MANUFACTURER_ID                     8
 #define CV_29_CONFIG                          29
 
-#if defined(ESP8266)
-#include <spi_flash.h>
-#define MAXCV     SPI_FLASH_SEC_SIZE
+#if defined(ESP32)
+	#include <esp_spi_flash.h>
+	#define MAXCV     SPI_FLASH_SEC_SIZE
+#elif defined(ESP8266)
+	#include <spi_flash.h>
+	#define MAXCV     SPI_FLASH_SEC_SIZE
 #elif defined( __STM32F1__)
-#define MAXCV	(EEPROM_PAGE_SIZE/4 - 1)	// number of storage places (CV address could be larger
+	#define MAXCV	(EEPROM_PAGE_SIZE/4 - 1)	// number of storage places (CV address could be larger
 											// because STM32 uses virtual adresses)
 #else
-#define MAXCV    E2END     					// the upper limit of the CV value currently defined to max memory.
+	#define MAXCV    E2END     					// the upper limit of the CV value currently defined to max memory.
 #endif
 
 typedef enum {
@@ -651,7 +654,7 @@ extern uint8_t notifyIsSetCVReady(void) __attribute__ ((weak));
  *  notifyCVChange()  Called when a CV value is changed.
  *                    This is called whenever a CV's value is changed.
  *  notifyDccCVChange()  Called only when a CV value is changed by a Dcc packet or a internal lib function.
- *                    it is NOT called if the CV is chaged by means of the setCV() method.
+ *                    it is NOT called if the CV is changed by means of the setCV() method.
  *                    Note: It is not called if notifyCVWrite() is defined
  *                    or if the value in the EEPROM is the same as the value
  *                    in the write command. 
@@ -695,6 +698,17 @@ extern void    notifyCVResetFactoryDefault(void) __attribute__ ((weak));
  *    None
  */
 extern void    notifyCVAck(void) __attribute__ ((weak));
+/*+
+ *  notifyAdvancedCVAck() Called when a CV write must be acknowledged via Advanced Acknowledgement.
+ *                This callback must send the Advanced Acknowledgement via RailComm.
+ *
+ *  Inputs:
+ *    None
+ *                                                                                                        *
+ *  Returns:
+ *    None
+ */
+extern void    notifyAdvancedCVAck(void) __attribute__ ((weak));
 /*+
  *  notifyServiceMode(bool) Called when state of 'inServiceMode' changes
  *

examples/NmraDccMultiFunctionMotorDecoder/NmraDccMultiFunctionMotorDecoder.ino

@@ -0,0 +1,314 @@
+// NMRA Dcc Multifunction Motor Decoder Demo
+//
+// Author: Alex Shepherd 2019-03-30
+// 
+// This example requires these Arduino Libraries:
+//
+// 1) The NmraDcc Library from: http://mrrwa.org/download/
+//
+// These libraries can be found and installed via the Arduino IDE Library Manager
+//
+// This is a simple demo of how to drive and motor speed and direction using PWM and a motor H-Bridge
+// It uses vStart and vHigh CV values to customise the PWM values to the motor response 
+// It also uses the Headling Function to drive 2 LEDs for Directional Headlights
+// Apart from that there's nothing fancy like Lighting Effects or a function matrix or Speed Tables - its just the basics...
+//
+
+#include <NmraDcc.h>
+// Uncomment any of the lines below to enable debug messages for different parts of the code
+//#define DEBUG_FUNCTIONS
+//#define DEBUG_SPEED
+//#define DEBUG_PWM
+//#define DEBUG_DCC_ACK
+//#define DEBUG_DCC_MSG
+
+#if defined(DEBUG_FUNCTIONS) or defined(DEBUG_SPEED) or defined(DEBUG_PWM) or defined(DEBUG_DCC_ACK) or defined(DEBUG_DCC_MSG)
+#define DEBUG_PRINT
+#endif
+
+// This is the default DCC Address
+#define DEFAULT_DECODER_ADDRESS 3
+
+// This section defines the Arduino UNO Pins to use 
+#ifdef __AVR_ATmega328P__ 
+
+#define DCC_PIN     2
+
+#define LED_PIN_FWD 5
+#define LED_PIN_REV 6
+#define MOTOR_DIR_PIN 12
+#define MOTOR_PWM_PIN 3
+
+// This section defines the Arduino ATTiny85 Pins to use 
+#elif ARDUINO_AVR_ATTINYX5 
+
+#define DCC_PIN     2
+
+#define LED_PIN_FWD 0
+#define LED_PIN_REV 1
+#define MOTOR_DIR_PIN 3
+#define MOTOR_PWM_PIN 4
+
+#else
+#error "Unsupported CPU, you need to add another configuration section for your CPU"
+#endif 
+
+// Some global state variables
+uint8_t newLedState = 0;
+uint8_t lastLedState = 0;
+
+uint8_t newDirection = 0;
+uint8_t lastDirection = 0;
+
+uint8_t newSpeed = 0;
+uint8_t lastSpeed = 0;
+uint8_t numSpeedSteps = SPEED_STEP_128;
+
+uint8_t vStart;
+uint8_t vHigh;
+
+// Structure for CV Values Table
+struct CVPair
+{
+  uint16_t  CV;
+  uint8_t   Value;
+};
+
+// CV Addresses we will be using
+#define CV_VSTART  2
+#define CV_VHIGH   5
+
+// Default CV Values Table
+CVPair FactoryDefaultCVs [] =
+{
+	// The CV Below defines the Short DCC Address
+  {CV_MULTIFUNCTION_PRIMARY_ADDRESS, DEFAULT_DECODER_ADDRESS},
+
+  // Three Step Speed Table
+  {CV_VSTART, 120},
+  {CV_VHIGH, 255},
+
+  // These two CVs define the Long DCC Address
+  {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
+  {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, DEFAULT_DECODER_ADDRESS},
+
+// ONLY uncomment 1 CV_29_CONFIG line below as approprate
+//  {CV_29_CONFIG,                                      0}, // Short Address 14 Speed Steps
+  {CV_29_CONFIG,                       CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+//  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION}, // Long  Address 28/128 Speed Steps  
+};
+
+NmraDcc  Dcc ;
+
+uint8_t FactoryDefaultCVIndex = 0;
+
+// This call-back function is called when a CV Value changes so we can update CVs we're using
+void notifyCVChange( uint16_t CV, uint8_t Value)
+{
+  switch(CV)
+  {
+    case CV_VSTART:
+      vStart = Value;
+      break;
+      
+    case CV_VHIGH:
+      vHigh = Value;
+      break;
+  }
+}
+
+void notifyCVResetFactoryDefault()
+{
+  // Make FactoryDefaultCVIndex non-zero and equal to num CV's to be reset 
+  // to flag to the loop() function that a reset to Factory Defaults needs to be done
+  FactoryDefaultCVIndex = sizeof(FactoryDefaultCVs)/sizeof(CVPair);
+};
+
+// This call-back function is called whenever we receive a DCC Speed packet for our address 
+void notifyDccSpeed( uint16_t Addr, DCC_ADDR_TYPE AddrType, uint8_t Speed, DCC_DIRECTION Dir, DCC_SPEED_STEPS SpeedSteps )
+{
+  #ifdef DEBUG_SPEED
+  Serial.print("notifyDccSpeed: Addr: ");
+  Serial.print(Addr,DEC);
+  Serial.print( (AddrType == DCC_ADDR_SHORT) ? "-S" : "-L" );
+  Serial.print(" Speed: ");
+  Serial.print(Speed,DEC);
+  Serial.print(" Steps: ");
+  Serial.print(SpeedSteps,DEC);
+  Serial.print(" Dir: ");
+  Serial.println( (Dir == DCC_DIR_FWD) ? "Forward" : "Reverse" );
+  #endif
+
+  newDirection = Dir;
+  newSpeed = Speed;
+  numSpeedSteps = SpeedSteps;
+};
+
+// This call-back function is called whenever we receive a DCC Function packet for our address 
+void notifyDccFunc(uint16_t Addr, DCC_ADDR_TYPE AddrType, FN_GROUP FuncGrp, uint8_t FuncState)
+{
+  #ifdef DEBUG_FUNCTIONS
+  Serial.print("notifyDccFunc: Addr: ");
+  Serial.print(Addr,DEC);
+  Serial.print( (AddrType == DCC_ADDR_SHORT) ? 'S' : 'L' );
+  Serial.print("  Function Group: ");
+  Serial.print(FuncGrp,DEC);
+  #endif
+
+  if(FuncGrp == FN_0_4)
+  {
+    newLedState = (FuncState & FN_BIT_00) ? 1 : 0;
+    #ifdef DEBUG_FUNCTIONS
+    Serial.print(" FN 0: ");
+    Serial.print(newLedState);
+    #endif
+  }
+  #ifdef DEBUG_FUNCTIONS
+  Serial.println();
+  #endif
+}
+
+// This call-back function is called whenever we receive a DCC Packet
+#ifdef  DEBUG_DCC_MSG
+void notifyDccMsg( DCC_MSG * Msg)
+{
+  Serial.print("notifyDccMsg: ") ;
+  for(uint8_t i = 0; i < Msg->Size; i++)
+  {
+    Serial.print(Msg->Data[i], HEX);
+    Serial.write(' ');
+  }
+  Serial.println();
+}
+#endif
+
+// This call-back function is called by the NmraDcc library when a DCC ACK needs to be sent
+// Calling this function should cause an increased 60ma current drain on the power supply for 6ms to ACK a CV Read
+// So we will just turn the motor on for 8ms and then turn it off again.
+
+void notifyCVAck(void)
+{
+  #ifdef DEBUG_DCC_ACK
+  Serial.println("notifyCVAck") ;
+  #endif
+
+  digitalWrite(MOTOR_DIR_PIN, HIGH);
+  digitalWrite(MOTOR_PWM_PIN, HIGH);
+
+  delay( 8 );  
+
+  digitalWrite(MOTOR_DIR_PIN, LOW);
+  digitalWrite(MOTOR_PWM_PIN, LOW);
+}
+
+void setup()
+{
+  #ifdef DEBUG_PRINT
+  Serial.begin(115200);
+  Serial.println("NMRA Dcc Multifunction Motor Decoder Demo");
+  #endif
+
+  // Setup the Pins for the Fwd/Rev LED for Function 0 Headlight
+  pinMode(LED_PIN_FWD, OUTPUT);
+  pinMode(LED_PIN_REV, OUTPUT);
+
+  // Setup the Pins for the Motor H-Bridge Driver
+  pinMode(MOTOR_DIR_PIN, OUTPUT);
+  pinMode(MOTOR_PWM_PIN, OUTPUT);
+
+  
+  // Setup which External Interrupt, the Pin it's associated with that we're using and enable the Pull-Up 
+  Dcc.pin(DCC_PIN, 0);
+  
+  Dcc.init( MAN_ID_DIY, 10, FLAGS_MY_ADDRESS_ONLY | FLAGS_AUTO_FACTORY_DEFAULT, 0 );
+
+  // Uncomment to force CV Reset to Factory Defaults
+//  notifyCVResetFactoryDefault();
+
+  // Read the current CV values for vStart and vHigh
+  vStart = Dcc.getCV(CV_VSTART);
+  vHigh = Dcc.getCV(CV_VHIGH);
+}
+
+void loop()
+{
+  // You MUST call the NmraDcc.process() method frequently from the Arduino loop() function for correct library operation
+  Dcc.process();
+
+  // Handle Speed changes
+  if(lastSpeed != newSpeed)
+  {
+    lastSpeed = newSpeed;
+
+    // Stop if speed = 0 or 1
+    
+    if(newSpeed <= 1)
+      digitalWrite(MOTOR_PWM_PIN, LOW);
+
+    // Calculate PWM value in the range 1..255   
+    else
+    {
+      uint8_t vScaleFactor;
+      
+      if((vHigh > 1) && (vHigh > vStart))
+        vScaleFactor = vHigh - vStart;
+      else
+        vScaleFactor = 255 - vStart;
+
+      uint8_t modSpeed = newSpeed - 1;
+      uint8_t modSteps = numSpeedSteps - 1;
+      
+      uint8_t newPwm = (uint8_t) vStart + modSpeed * vScaleFactor / modSteps;
+
+      #ifdef DEBUG_PWM
+      Serial.print("New Speed: vStart: ");
+      Serial.print(vStart);
+      Serial.print(" vHigh: ");
+      Serial.print(vHigh);
+      Serial.print(" modSpeed: ");
+      Serial.print(modSpeed);
+      Serial.print(" vScaleFactor: ");
+      Serial.print(vScaleFactor);
+      Serial.print(" modSteps: ");
+      Serial.print(modSteps);
+      Serial.print(" newPwm: ");
+      Serial.println(newPwm);
+      #endif
+            
+      analogWrite(MOTOR_PWM_PIN, newPwm);
+    }
+  }
+  
+  // Handle Direction and Headlight changes
+  if((lastDirection != newDirection) || (lastLedState != newLedState))
+  {
+    lastDirection = newDirection;
+    lastLedState = newLedState;
+
+    digitalWrite(MOTOR_DIR_PIN, newDirection);
+
+    if(newLedState)
+    {
+      #ifdef DEBUG_FUNCTIONS
+      Serial.println("LED On");
+      #endif
+      digitalWrite(LED_PIN_FWD, newDirection ? LOW : HIGH);
+      digitalWrite(LED_PIN_REV, newDirection ? HIGH : LOW);
+    }
+    else
+    {
+      #ifdef DEBUG_FUNCTIONS
+      Serial.println("LED Off");
+      #endif
+      digitalWrite(LED_PIN_FWD, LOW);
+      digitalWrite(LED_PIN_REV, LOW);
+    }
+  }
+
+  // Handle resetting CVs back to Factory Defaults
+  if( FactoryDefaultCVIndex && Dcc.isSetCVReady())
+  {
+    FactoryDefaultCVIndex--; // Decrement first as initially it is the size of the array 
+    Dcc.setCV( FactoryDefaultCVs[FactoryDefaultCVIndex].CV, FactoryDefaultCVs[FactoryDefaultCVIndex].Value);
+  }
+}

examples/SMA/AccDec_10Servos_7LED_6Ftn/AccDec_10Servos_7LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Switch Acessory DCC Decoder    AccDec_10Servos_7LED_6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses for CV Control Default 24 (LSB CV 121 ; MSB CV 122)
 // ACCESSORY DECODER  DEFAULT ADDRESS IS 40 (MAX 40-56 SWITCHES)
 // ACCESSRY DECODER ADDRESS CAN NOW BE SET ABOVE 255
@@ -82,12 +82,15 @@ CVPair FactoryDefaultCVs [] =
   
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
+
   // Speed Steps don't matter for this decoder
   // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
-//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
-  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
-//  {CV_29_CONFIG,          CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
-  
+  //  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  //  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+  //  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+  {CV_29_CONFIG,CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_F0_LOCATION}, // Accesory Decoder Short Address
+  //  {CV_29_CONFIG, CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_EXT_ADDRESSING | CV29_F0_LOCATION},  // Accesory Decoder  Long  Address 
+
   {CV_DECODER_MASTER_RESET, 0},
   {CV_To_Store_SET_CV_Address, SET_CV_Address&0xFF },   // LSB Set CV Address
   {CV_To_Store_SET_CV_Address+1,(SET_CV_Address>>8)&0x3F },  //MSB Set CV Address
@@ -216,7 +219,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 100, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
   delay(800);
    
   #if defined(DECODER_LOADED)

examples/SMA/AccDec_13Servos_4LED_6Ftn/AccDec_13Servos_4LED_6Ftn.ino

@@ -1,6 +1,6 @@
 // Production 17 Function DCC Decoder 
 // Production 17 Switch Acessory DCC Decoder    AccDec_13Servos_4LED_6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses for CV Control Default 24 (LSB CV 121 ; MSB CV 122)
 // ACCESSORY DECODER  DEFAULT ADDRESS IS 40 (MAX 40-56 SWITCHES)
 // ACCESSRY DECODER ADDRESS CAN NOW BE SET ABOVE 255
@@ -82,12 +82,15 @@ CVPair FactoryDefaultCVs [] =
   
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
+
   // Speed Steps don't matter for this decoder
   // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
-//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
-  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
-//  {CV_29_CONFIG,          CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
-  
+  //  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  //  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+  //  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+  {CV_29_CONFIG,CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_F0_LOCATION}, // Accesory Decoder Short Address
+  //  {CV_29_CONFIG, CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_EXT_ADDRESSING | CV29_F0_LOCATION},  // Accesory Decoder  Long  Address 
+
   {CV_DECODER_MASTER_RESET, 0},
   {CV_To_Store_SET_CV_Address, SET_CV_Address&0xFF },   // LSB Set CV Address
   {CV_To_Store_SET_CV_Address+1,(SET_CV_Address>>8)&0x3F },  //MSB Set CV Address
@@ -217,7 +220,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
   delay(800);
    
   #if defined(DECODER_LOADED)

examples/SMA/AccDec_15Servos_2LED_6Ftn/AccDec_15Servos_2LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Switch Acessory DCC Decoder    AccDec_15Servos_2LED_6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses for CV Control Default 24 (LSB CV 121 ; MSB CV 122)
 // ACCESSORY DECODER  DEFAULT ADDRESS IS 40 (MAX 40-56 SWITCHES)
 // ACCESSRY DECODER ADDRESS CAN NOW BE SET ABOVE 255
@@ -81,12 +81,15 @@ CVPair FactoryDefaultCVs [] =
   
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
+
   // Speed Steps don't matter for this decoder
   // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
-//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
-  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
-//  {CV_29_CONFIG,          CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
-  
+  //  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  //  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+  //  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+  {CV_29_CONFIG,CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_F0_LOCATION}, // Accesory Decoder Short Address
+  //  {CV_29_CONFIG, CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_EXT_ADDRESSING | CV29_F0_LOCATION},  // Accesory Decoder  Long  Address 
+
   {CV_DECODER_MASTER_RESET, 0},
   {CV_To_Store_SET_CV_Address, SET_CV_Address&0xFF },   // LSB Set CV Address
   {CV_To_Store_SET_CV_Address+1,(SET_CV_Address>>8)&0x3F },  //MSB Set CV Address
@@ -216,7 +219,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
   delay(800);
    
   #if defined(DECODER_LOADED)

examples/SMA/AccDec_17LED_1Ftn/AccDec_17LED_1Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Switch Acessory DCC Decoder    AccDec_17LED_1Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses for CV Control Default 24 (LSB CV 121 ; MSB CV 122)
 // ACCESSORY DECODER  DEFAULT ADDRESS IS 40 (MAX 40-56 SWITCHES)
 // ACCESSRY DECODER ADDRESS CAN NOW BE SET ABOVE 255
@@ -56,12 +56,15 @@ CVPair FactoryDefaultCVs [] =
   
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
+
   // Speed Steps don't matter for this decoder
   // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
-//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
-  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
-//  {CV_29_CONFIG,          CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
-  
+  //  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  //  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+  //  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+  {CV_29_CONFIG,CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_F0_LOCATION}, // Accesory Decoder Short Address
+  //  {CV_29_CONFIG, CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_EXT_ADDRESSING | CV29_F0_LOCATION},  // Accesory Decoder  Long  Address 
+
   {CV_DECODER_MASTER_RESET, 0},
   {CV_To_Store_SET_CV_Address, SET_CV_Address&0xFF },   // LSB Set CV Address
   {CV_To_Store_SET_CV_Address+1,(SET_CV_Address>>8)&0x3F },  //MSB Set CV Address
@@ -105,7 +108,7 @@ void setup()
   // Setup which External Interrupt, the Pin it's associated with that we're using and enable the Pull-Up 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
 }
 void loop()
 {
@@ -116,4 +119,4 @@ extern void notifyDccAccTurnoutOutput( uint16_t Addr, uint8_t Direction, uint8_t
   if ( Addr >= Accessory_Address && Addr < Accessory_Address+17)  //Controls This_Decoder_Address+16
 	  digitalWrite( ledpins[Addr-Accessory_Address], Direction );
 }
-
+

examples/SMA/AccDec_17LED_6Ftn/AccDec_17LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Switch Acessory DCC Decoder    AccDec_17LED_6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses for CV Control Default 24 (LSB CV 121 ; MSB CV 122)
 // ACCESSORY DECODER  DEFAULT ADDRESS IS 40 (MAX 40-56 SWITCHES)
 // ACCESSRY DECODER ADDRESS CAN NOW BE SET ABOVE 255
@@ -81,12 +81,15 @@ CVPair FactoryDefaultCVs [] =
   
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
+
   // Speed Steps don't matter for this decoder
   // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
-//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
-  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
-//  {CV_29_CONFIG,          CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
-  
+  //  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  //  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+  //  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+  {CV_29_CONFIG,CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_F0_LOCATION}, // Accesory Decoder Short Address
+  //  {CV_29_CONFIG, CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_EXT_ADDRESSING | CV29_F0_LOCATION},  // Accesory Decoder  Long  Address 
+
   {CV_DECODER_MASTER_RESET, 0},
   {CV_To_Store_SET_CV_Address, SET_CV_Address&0xFF },   // LSB Set CV Address
   {CV_To_Store_SET_CV_Address+1,(SET_CV_Address>>8)&0x3F },  //MSB Set CV Address
@@ -219,7 +222,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
   delay(800);
    
   #if defined(DECODER_LOADED)

examples/SMA/AccDec_7ServoBackandForth6Ftn/AccDec_7ServoBackandForth6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Switch Acessory DCC Decoder    AccDec_7ServoBackandForth6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses for CV Control Default 24 (LSB CV 121 ; MSB CV 122)
 // ACCESSORY DECODER  DEFAULT ADDRESS IS 40 (MAX 40-56 SWITCHES)
 // ACCESSRY DECODER ADDRESS CAN NOW BE SET ABOVE 255
@@ -85,12 +85,15 @@ CVPair FactoryDefaultCVs [] =
   
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
+
   // Speed Steps don't matter for this decoder
   // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
-//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
-  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
-//  {CV_29_CONFIG,          CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
-  
+  //  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  //  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+  //  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+  {CV_29_CONFIG,CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_F0_LOCATION}, // Accesory Decoder Short Address
+  //  {CV_29_CONFIG, CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_EXT_ADDRESSING | CV29_F0_LOCATION},  // Accesory Decoder  Long  Address 
+
   {CV_DECODER_MASTER_RESET, 0},
   {CV_To_Store_SET_CV_Address, SET_CV_Address&0xFF },   // LSB Set CV Address
   {CV_To_Store_SET_CV_Address+1,(SET_CV_Address>>8)&0x3F },  //MSB Set CV Address
@@ -223,7 +226,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
   delay(800);
    
   #if defined(DECODER_LOADED)

examples/SMA/AccDec_7Servos_10LED_6Ftn/AccDec_7Servos_10LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Switch Acessory DCC Decoder    AccDec_7Servos_10LED_6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses for CV Control Default 24 (LSB CV 121 ; MSB CV 122)
 // ACCESSORY DECODER  DEFAULT ADDRESS IS 40 (MAX 40-56 SWITCHES)
 // ACCESSRY DECODER ADDRESS CAN NOW BE SET ABOVE 255
@@ -81,12 +81,15 @@ CVPair FactoryDefaultCVs [] =
   
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
+
   // Speed Steps don't matter for this decoder
   // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
-//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
-  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
-//  {CV_29_CONFIG,          CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
-  
+  //  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  //  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+  //  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+  {CV_29_CONFIG,CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_F0_LOCATION}, // Accesory Decoder Short Address
+  //  {CV_29_CONFIG, CV29_ACCESSORY_DECODER|CV29_OUTPUT_ADDRESS_MODE|CV29_EXT_ADDRESSING | CV29_F0_LOCATION},  // Accesory Decoder  Long  Address 
+
   {CV_DECODER_MASTER_RESET, 0},
   {CV_To_Store_SET_CV_Address, SET_CV_Address&0xFF },   // LSB Set CV Address
   {CV_To_Store_SET_CV_Address+1,(SET_CV_Address>>8)&0x3F },  //MSB Set CV Address
@@ -219,7 +222,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_OUTPUT_ADDRESS_MODE | FLAGS_DCC_ACCESSORY_DECODER, CV_To_Store_SET_CV_Address);
   delay(800);
    
   #if defined(DECODER_LOADED)

examples/SMA/Dec_10Serv_7LED_6Ftn/Dec_10Serv_7LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Function DCC Decoder 
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
 // NO LONGER REQUIRES modified software servo Lib
 // Software restructuring mods added from Alex Shepherd and Franz-Peter
@@ -211,7 +211,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
    
 #if defined(DECODER_LOADED)

examples/SMA/Dec_13Serv_4LED_6Ftn/Dec_13Serv_4LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Function DCC Decoder    Dec_13Serv_4LED_6Ftn.ino
-// Version 5.4  Geoff Bunza 2014,2015,2016
+// Version 6.01  Geoff Bunza 2014,2015,2016
 // NO LONGER REQUIRES modified software servo Lib
 // Software restructuring mods added from Alex Shepherd and Franz-Peter
 //   With sincere thanks
@@ -12,7 +12,6 @@
 // ******** INFO TO THE SERIAL MONITOR
 //#define DEBUG
 
-
 #include <NmraDcc.h>
 #include <SoftwareServo.h> 
 
@@ -208,7 +207,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 100, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
    
 #if defined(DECODER_LOADED)

examples/SMA/Dec_15Serv_2LED_6Ftn/Dec_15Serv_2LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Function DCC Decoder    Dec_15Serv_2LED_6Ftn.ino
-// Version 5.4  Geoff Bunza 2014,2015,2016
+// Version 6.01  Geoff Bunza 2014,2015,2016
 // NO LONGER REQUIRES modified software servo Lib
 // Software restructuring mods added from Alex Shepherd and Franz-Peter
 //   With sincere thanks
@@ -68,10 +68,17 @@ struct CVPair
 
 CVPair FactoryDefaultCVs [] =
 {
-  {CV_MULTIFUNCTION_PRIMARY_ADDRESS, This_Decoder_Address},
-  {CV_ACCESSORY_DECODER_ADDRESS_MSB, 0},
-  {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
-  {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
+  {CV_MULTIFUNCTION_PRIMARY_ADDRESS, This_Decoder_Address&0x7F },
+  
+  // These two CVs define the Long DCC Address
+  {CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, ((This_Decoder_Address>>8)&0x7F)+192 },
+  {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, This_Decoder_Address&0xFF },
+  
+  // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
+//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
+//  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+
   {CV_DECODER_MASTER_RESET, 0},
   {30, 2}, //F0 Config 0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade
   {31, 1},    //F0 Rate  Blink=Eate,PWM=Rate,Servo=Rate
@@ -200,7 +207,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 100, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
    
 #if defined(DECODER_LOADED)

examples/SMA/Dec_17LED_1Ftn/Dec_17LED_1Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Function DCC Decoder   Dec_17LED_1Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
 
 // ******** UNLESS YOU WANT ALL CV'S RESET UPON EVERY POWER UP
@@ -87,7 +87,7 @@ void setup()
   // Setup which External Interrupt, the Pin it's associated with that we're using and enable the Pull-Up 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
 #if defined(DECODER_LOADED)
   if ( Dcc.getCV(CV_DECODER_MASTER_RESET)== CV_DECODER_MASTER_RESET ) 

examples/SMA/Dec_17LED_6Ftn/Dec_17LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Function DCC Decoder     Dec_17LED_6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
 // NO LONGER REQUIRES modified software servo Lib
 // Software restructuring mods added from Alex Shepherd and Franz-Peter
@@ -211,7 +211,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
    
 #if defined(DECODER_LOADED)

examples/SMA/Dec_2Mot_12LED_1Srv_6Ftn/Dec_2Mot_12LED_1Srv_6Ftn.ino

@@ -1,7 +1,7 @@
 // Production 2 Motor 13 Function DCC Decoder    Dec_2MotDrive_12LED_1Srv_6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01a  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
-
+// Better motor control added
 // NO LONGER REQUIRES modified software servo Lib
 // Software restructuring mods added from Alex Shepherd and Franz-Peter
 //   With sincere thanks
@@ -35,12 +35,10 @@ SoftwareServo servo[13];
 #define servo_slowdown  12   //servo loop counter limit
 int servo_slow_counter = 0; //servo loop counter to slowdown servo transit
 
-uint8_t Motor1Speed       = 0;
+int     Motor1Speed       = 0;
 uint8_t Motor1ForwardDir  = 1;
-uint8_t Motor1MaxSpeed    = 127;
-uint8_t Motor2Speed       = 0;
+int     Motor2Speed       = 0;
 uint8_t Motor2ForwardDir  = 1;
-uint8_t Motor2MaxSpeed    = 127;
 int kickstarton = 1400;  //kick start cycle on time
 int kickstarttime = 5;   //kick start duration on time
 int fwdon = 0;
@@ -49,6 +47,7 @@ int bwdon  = 0;
 int bwdtime = 1;
 int bwdshift = 0;
 int cyclewidth = 2047;
+int loopdelay =14;
 int m2h = 3;    //R H Bridge     //Motor1
 int m2l = 4;    //B H Bridge     //Motor1
 int m0h = 9;    //R H Bridge     //Motor2
@@ -56,7 +55,7 @@ int m0l = 10;   //B H Bridge     //Motor2
 
 int speedup = 112;   //Right track time differntial
 int deltime = 1500;
-int tim_delay = 80;
+int tim_delay = 30;
 int numfpins = 17;
 int num_active_fpins = 13;
 byte fpins [] = {3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19};
@@ -71,7 +70,6 @@ const int FunctionPin6 = 13;
 const int FunctionPin7 = 14;     //A0
 const int FunctionPin8 = 15;     //A1
 
-
 const int FunctionPin9 = 16;     //A2
 const int FunctionPin10 = 17;    //A3
 const int FunctionPin11 = 18;    //A4
@@ -111,9 +109,9 @@ CVPair FactoryDefaultCVs [] =
   {CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, This_Decoder_Address&0xFF },
   
   // ONLY uncomment 1 CV_29_CONFIG line below as approprate DEFAULT IS SHORT ADDRESS
-//  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
+  //  {CV_29_CONFIG,          0},                                           // Short Address 14 Speed Steps
   {CV_29_CONFIG, CV29_F0_LOCATION}, // Short Address 28/128 Speed Steps
-//  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
+  //  {CV_29_CONFIG, CV29_EXT_ADDRESSING | CV29_F0_LOCATION},   // Long  Address 28/128 Speed Steps  
 
   {CV_DECODER_MASTER_RESET, 0},
   {30, 0}, //F0 Config  0=On/Off,1=Blink,2=Servo,3=DBL LED Blink,4=Pulsed,5=fade
@@ -244,7 +242,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
 
 #if defined(DECODER_LOADED)
@@ -340,14 +338,28 @@ void loop()   //****************************************************************
   Dcc.process();
   SoftwareServo::refresh();
   delay(2);
+#ifdef DEBUG
+   Serial.print("Motor1Speed= ");
+   Serial.println(Motor1Speed, DEC) ;
+   Serial.print("Motor2Speed= ");
+   Serial.println(Motor2Speed, DEC) ;
+#endif    
   if (Motor1Speed != 0) {
-    if (Motor1ForwardDir == 0)  gofwd1 (fwdtime, int((Motor1Speed&0x7f)*21));
-    else gobwd1 (bwdtime, int((Motor1Speed&0x7f)*21));
+    if (Motor1ForwardDir == 0)  gofwd1 (fwdtime, Motor1Speed<<4);
+      else gobwd1 (bwdtime, Motor1Speed<<4); 
   }
+  else {
+      digitalWrite(m2h, LOW);     //Motor1 OFF
+      digitalWrite(m2l, LOW);     //Motor1 OFF
+    }
   if (Motor2Speed != 0) {
-    if (Motor2ForwardDir == 0)  gofwd2 (fwdtime, int((Motor2Speed&0x7f)*21));
-    else gobwd2 (bwdtime, int((Motor2Speed&0x7f)*21));
-  }
+    if (Motor2ForwardDir == 0)  gofwd2 (fwdtime, Motor2Speed<<4);
+      else  gobwd2 (bwdtime, Motor2Speed<<4);
+      }
+    else {
+    digitalWrite(m0h, LOW);     //Motor1 OFF
+    digitalWrite(m0l, LOW);     //Motor1 OFF
+   }
   //
   for (int i=0; i < num_active_fpins; i++) {
     if (ftn_queue[i].inuse==1)  {
@@ -420,61 +432,73 @@ void loop()   //****************************************************************
 }
 void gofwd1(int fcnt,int fcycle) {
    int icnt;
-   int totcycle;
+   int delta_tp,delta_tm;
+   delta_tp = fcycle+loopdelay<<2;
+   delta_tm = cyclewidth-fcycle-loopdelay;
    icnt = 0;
    while (icnt < fcnt)
   {
     digitalWrite(m2h, HIGH);     //Motor1
-    delayMicroseconds(fcycle);
+    delayMicroseconds(delta_tp);
     digitalWrite(m2h, LOW);     //Motor1
-    delayMicroseconds(cyclewidth - fcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gobwd1(int bcnt,int bcycle) {
    int icnt;
+   int delta_tp,delta_tm;
+   delta_tp = bcycle+loopdelay<<2;
+   delta_tm = cyclewidth-bcycle-loopdelay;
    icnt=0;
    while (icnt < bcnt)
   {
     digitalWrite(m2l, HIGH);     //Motor1
-    delayMicroseconds(bcycle); 
+    delayMicroseconds(delta_tp); 
     digitalWrite(m2l, LOW);      //Motor1
-    delayMicroseconds(cyclewidth - bcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gofwd2(int fcnt,int fcycle) {
    int icnt;
-   int totcycle;
+   int delta_tp,delta_tm;
+   delta_tp = fcycle+loopdelay<<2;
+   delta_tm = cyclewidth-fcycle-loopdelay;
    icnt = 0;
    while (icnt < fcnt)
   {
     digitalWrite(m0h, HIGH);     //Motor2
-    delayMicroseconds(fcycle);
+    delayMicroseconds(delta_tp);
     digitalWrite(m0h, LOW);     //Motor2
-    delayMicroseconds(cyclewidth - fcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gobwd2(int bcnt,int bcycle) {
    int icnt;
+   int delta_tp,delta_tm;
+   delta_tp = bcycle+loopdelay<<2;
+   delta_tm = cyclewidth-bcycle-loopdelay;
    icnt=0;
    while (icnt < bcnt)
   {
     digitalWrite(m0l, HIGH);     //Motor2
-    delayMicroseconds(bcycle); 
+    delayMicroseconds(delta_tp); 
     digitalWrite(m0l, LOW);      //Motor2
-    delayMicroseconds(cyclewidth - bcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void notifyDccSpeed( uint16_t Addr, DCC_ADDR_TYPE AddrType, uint8_t Speed, DCC_DIRECTION ForwardDir, DCC_SPEED_STEPS SpeedSteps )  {
    if (Function13_value==1)  {
-     Motor1Speed = Speed;
+     Motor1Speed = (Speed & 0x7f );
+     if (Motor1Speed == 1)  Motor1Speed=0;
      Motor1ForwardDir  = ForwardDir;
    }
    if (Function14_value==1)  {
-     Motor2Speed       = Speed;
+     Motor2Speed = (Speed & 0x7f );
+     if (Motor2Speed == 1)  Motor2Speed=0;
      Motor2ForwardDir  = ForwardDir;
    }
 }
@@ -592,4 +616,4 @@ void exec_function (int function, int pin, int FuncState)  {
       ftn_queue[function].inuse = 0;
       break;
   }
-}
+}

examples/SMA/Dec_2Mot_3LED_TrigAud/Dec_2Mot_3LED_TrigAud.ino

@@ -1,7 +1,7 @@
 // Production 2 Motor w/Triggered Audio Multi Function DCC Decoder    Dec_2Mot_3LED_TrigAudio.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01a  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
-
+// Improved motor control added
 // This decoder will control 2 motors and play audio clips by function:
 // F0=LED on pin 8, F1-F4 Controls playing specific audio tracks in the 3rd CV (start) at the volume in the 2nd CV (rate)
 // F5 Controls playing audio track in CV57 at the volume in CV56 ONLY when F5 is ON and Pin17/A3 is held low, 
@@ -21,7 +21,7 @@
  * Motor speed for each can only be changed if the corresponding Function is on 
  * (F13 and/or F14). Motor speed is maintained if the corresponding Motor select function 
  * is off. Thus, each motor can be controlled independently and run at different speeds.
- * F0 LED Pin 8
+ * F0 LED Pin 13
  * F1-F6  6 Functions Configures As Audio Play
  * F7-F8  2 Functions Configures As LEDs by default PINS 18 and 19
  * F13 Motor1 Control Enable
@@ -68,12 +68,10 @@ SoftwareServo servo[10];
 #define servo_slowdown    4   //servo loop counter limit
 int servo_slow_counter =  0;  //servo loop counter to slowdown servo transit
 
-uint8_t Motor1Speed       = 0;
+int     Motor1Speed       = 0;
 uint8_t Motor1ForwardDir  = 1;
-uint8_t Motor1MaxSpeed    = 127;
-uint8_t Motor2Speed       = 0;
+int     Motor2Speed       = 0;
 uint8_t Motor2ForwardDir  = 1;
-uint8_t Motor2MaxSpeed    = 127;
 int kickstarton = 1400;  //kick start cycle on time
 int kickstarttime = 5;   //kick start duration on time
 int fwdon = 0;
@@ -82,6 +80,7 @@ int bwdon  = 0;
 int bwdtime = 1;
 int bwdshift = 0;
 int cyclewidth = 2047;
+int loopdelay =14;
 int m2h = 3;    //R H Bridge     //Motor1
 int m2l = 4;    //B H Bridge     //Motor1
 int m0h = 9;    //R H Bridge     //Motor2
@@ -89,31 +88,31 @@ int m0l = 10;   //B H Bridge     //Motor2
 
 int speedup = 112;   //Right track time differntial
 int deltime = 1500;
-int tim_delay = 100;
+int tim_delay = 30;
 int numfpins = 13;
 int num_active_fpins = 9;
 byte fpins [] = {3,4,8,9,10,11,12,13,14,15,16,18};
-const int FunctionPin0 = 8;
-const int FunctionPin1 = 11;
-const int FunctionPin2 = 12;
-const int FunctionPin3 = 13;
-const int FunctionPin4 = 14;    //A0
+const int FunctionPin0 = 13;
+const int FunctionPin1 = 20;   // Place holders ONLY
+const int FunctionPin2 = 20;   // Place holders ONLY
+const int FunctionPin3 = 20;   // Place holders ONLY
+const int FunctionPin4 = 20;    //A0 Place holders ONLY
 
-const int FunctionPin5 = 15;    //A1
-const int FunctionPin6 = 16;    //A2
-const int FunctionPin7 = 18;    //A5
-const int FunctionPin8 = 19;    //A4
+const int FunctionPin5 = 20;    //A1 Place holders ONLY
+const int FunctionPin6 = 20;    //A2 Place holders ONLY
+const int FunctionPin7 = 18;    //A5 Place holders ONLY
+const int FunctionPin8 = 19;    //A4 Place holders ONLY
 
 const int AudioTriggerPin = 17;  //A3  NOW USED AS Audio Trigger Pin INPUT_PULLUP
 
-const int FunctionPin9 = 20;   // Place holders ONLY
+const int FunctionPin9  = 20;   // Place holders ONLY
 const int FunctionPin10 = 20;   // Place holders ONLY
-const int FunctionPin11 = 20;
-const int FunctionPin12 = 20;
-const int FunctionPin13 = 20;
-const int FunctionPin14 = 20;
-const int FunctionPin15 = 20;
-const int FunctionPin16 = 20;
+const int FunctionPin11 = 20;   // Place holders ONLY
+const int FunctionPin12 = 20;   // Place holders ONLY
+const int FunctionPin13 = 20;   // Place holders ONLY
+const int FunctionPin14 = 20;   // Place holders ONLY
+const int FunctionPin15 = 20;   // Place holders ONLY
+const int FunctionPin16 = 20;   // Place holders ONLY
 
 int Function13_value = 0;
 int Function14_value = 0;
@@ -122,7 +121,6 @@ NmraDcc  Dcc ;
 DCC_MSG  Packet ;
 uint8_t CV_DECODER_MASTER_RESET = 120;
 int t;  // temp
-
 struct QUEUE
 {
   int inuse;
@@ -242,7 +240,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
    
 #if defined(DECODER_LOADED)
@@ -354,14 +352,28 @@ void loop()   //****************************************************************
   Dcc.process();
   SoftwareServo::refresh();
   delay(2);
+#ifdef DEBUG
+   Serial.print("Motor1Speed= ");
+   Serial.println(Motor1Speed, DEC) ;
+   Serial.print("Motor2Speed= ");
+   Serial.println(Motor2Speed, DEC) ;
+#endif  
   if (Motor1Speed != 0) {
-    if (Motor1ForwardDir == 0)  gofwd1 (fwdtime, int((Motor1Speed&0x7f)*21));
-    else gobwd1 (bwdtime, int((Motor1Speed&0x7f)*21));
+    if (Motor1ForwardDir == 0)  gofwd1 (fwdtime, Motor1Speed<<4);
+      else gobwd1 (bwdtime, Motor1Speed<<4); 
   }
+  else {
+      digitalWrite(m2h, LOW);     //Motor1 OFF
+      digitalWrite(m2l, LOW);     //Motor1 OFF
+    }
   if (Motor2Speed != 0) {
-    if (Motor2ForwardDir == 0)  gofwd2 (fwdtime, int((Motor2Speed&0x7f)*21));
-    else gobwd2 (bwdtime, int((Motor2Speed&0x7f)*21));
-  }
+    if (Motor2ForwardDir == 0)  gofwd2 (fwdtime, Motor2Speed<<4);
+      else  gobwd2 (bwdtime, Motor2Speed<<4);
+      }
+    else {
+    digitalWrite(m0h, LOW);     //Motor1 OFF
+    digitalWrite(m0l, LOW);     //Motor1 OFF
+   }
   //
   for (int i=0; i < num_active_fpins; i++) {
     if (ftn_queue[i].inuse==1)  {
@@ -460,61 +472,73 @@ void loop()   //****************************************************************
 }
 void gofwd1(int fcnt,int fcycle) {
    int icnt;
-   int totcycle;
+   int delta_tp,delta_tm;
+   delta_tp = fcycle+loopdelay<<2;
+   delta_tm = cyclewidth-fcycle-loopdelay;
    icnt = 0;
    while (icnt < fcnt)
   {
     digitalWrite(m2h, HIGH);     //Motor1
-    delayMicroseconds(fcycle);
+    delayMicroseconds(delta_tp);
     digitalWrite(m2h, LOW);     //Motor1
-    delayMicroseconds(cyclewidth - fcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gobwd1(int bcnt,int bcycle) {
    int icnt;
+   int delta_tp,delta_tm;
+   delta_tp = bcycle+loopdelay<<2;
+   delta_tm = cyclewidth-bcycle-loopdelay;
    icnt=0;
    while (icnt < bcnt)
   {
     digitalWrite(m2l, HIGH);     //Motor1
-    delayMicroseconds(bcycle); 
+    delayMicroseconds(delta_tp); 
     digitalWrite(m2l, LOW);      //Motor1
-    delayMicroseconds(cyclewidth - bcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gofwd2(int fcnt,int fcycle) {
    int icnt;
-   int totcycle;
+   int delta_tp,delta_tm;
+   delta_tp = fcycle+loopdelay<<2;
+   delta_tm = cyclewidth-fcycle-loopdelay;
    icnt = 0;
    while (icnt < fcnt)
   {
     digitalWrite(m0h, HIGH);     //Motor2
-    delayMicroseconds(fcycle);
+    delayMicroseconds(delta_tp);
     digitalWrite(m0h, LOW);     //Motor2
-    delayMicroseconds(cyclewidth - fcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gobwd2(int bcnt,int bcycle) {
    int icnt;
+   int delta_tp,delta_tm;
+   delta_tp = bcycle+loopdelay<<2;
+   delta_tm = cyclewidth-bcycle-loopdelay;
    icnt=0;
    while (icnt < bcnt)
   {
     digitalWrite(m0l, HIGH);     //Motor2
-    delayMicroseconds(bcycle); 
+    delayMicroseconds(delta_tp); 
     digitalWrite(m0l, LOW);      //Motor2
-    delayMicroseconds(cyclewidth - bcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void notifyDccSpeed( uint16_t Addr, DCC_ADDR_TYPE AddrType, uint8_t Speed, DCC_DIRECTION ForwardDir, DCC_SPEED_STEPS SpeedSteps )  {
    if (Function13_value==1)  {
-     Motor1Speed = Speed;
+     Motor1Speed = (Speed & 0x7f );
+     if (Motor1Speed == 1)  Motor1Speed=0;
      Motor1ForwardDir  = ForwardDir;
    }
    if (Function14_value==1)  {
-     Motor2Speed       = Speed;
+     Motor2Speed = (Speed & 0x7f );
+     if (Motor2Speed == 1)  Motor2Speed=0;
      Motor2ForwardDir  = ForwardDir;
    }
 }
@@ -699,4 +723,4 @@ void exec_function (int function, int pin, int FuncState)  {
    void mp3_single_loop (boolean state);  //set single loop 
    void mp3_DAC (boolean state); 
    void mp3_random_play (); 
- */
+ */

examples/SMA/Dec_2Mot_4LED_Aud_8Ftn/Dec_2Mot_4LED_Aud_8Ftn.ino

@@ -1,6 +1,14 @@
 // Production 2 Motor w/Audio 13 Function DCC Decoder    Dec_2Mot_10LED_Audio_8Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01a  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
+// Improved motor control added
+// This decoder will control 2 motors and play audio clips by function:
+// F0=LED on pin 13, F1-F4 Controls playing specific audio tracks in the 3rd CV (start) at the volume in the 2nd CV (rate)
+// F5 Controls playing audio track in CV57 at the volume in CV56 ONLY when F5 is ON and Pin17/A3 is held low, 
+//        and plays continuously until F5 turns off or Pin17 trigger goes HIGH or open
+// F6 plays one track selected randomly off the memory card
+// F13 and F14 select each separate motor which will respond to speed and direction controls
+// F7-F8 control LEDs by default PINS 18 and 19
 
 // NO LONGER REQUIRES modified software servo Lib
 // Software restructuring mods added from Alex Shepherd and Franz-Peter
@@ -10,7 +18,7 @@
  * Motor speed for each can only be changed if the corresponding Function is on 
  * (F13 and/or F14). Motor speed is maintained if the corresponding Motor select function 
  * is off. Thus, each motor can be controlled independently and run at different speeds.
- * F0 LED Pin 8
+ * F0 LED Pin 13
  * F1-F6  6 Functions Configures As Audio Play
  * F7-F9  3 Functions Configures As LEDs
  * F13 Motor1 Control Enable
@@ -57,12 +65,10 @@ SoftwareServo servo[10];
 #define servo_slowdown    4   //servo loop counter limit
 int servo_slow_counter =  0;  //servo loop counter to slowdown servo transit
 
-uint8_t Motor1Speed       = 0;
+int     Motor1Speed       = 0;
 uint8_t Motor1ForwardDir  = 1;
-uint8_t Motor1MaxSpeed    = 127;
-uint8_t Motor2Speed       = 0;
+int     Motor2Speed       = 0;
 uint8_t Motor2ForwardDir  = 1;
-uint8_t Motor2MaxSpeed    = 127;
 int kickstarton = 1400;  //kick start cycle on time
 int kickstarttime = 5;   //kick start duration on time
 int fwdon = 0;
@@ -71,6 +77,7 @@ int bwdon  = 0;
 int bwdtime = 1;
 int bwdshift = 0;
 int cyclewidth = 2047;
+int loopdelay =14;
 int m2h = 3;    //R H Bridge     //Motor1
 int m2l = 4;    //B H Bridge     //Motor1
 int m0h = 9;    //R H Bridge     //Motor2
@@ -78,29 +85,31 @@ int m0l = 10;   //B H Bridge     //Motor2
 
 int speedup = 112;   //Right track time differntial
 int deltime = 1500;
-int tim_delay = 100;
+int tim_delay = 30;
 int numfpins = 14;
 int num_active_fpins = 10;
 byte fpins [] = {3,4,8,9,10,11,12,13,14,15,16,17,18,19};
-const int FunctionPin0 = 8;
-const int FunctionPin1 = 11;
-const int FunctionPin2 = 12;
-const int FunctionPin3 = 13;
-const int FunctionPin4 = 14;    //A0
+const int FunctionPin0 = 13;
+const int FunctionPin1 = 20;   // Place holders ONLY
+const int FunctionPin2 = 20;   // Place holders ONLY
+const int FunctionPin3 = 20;   // Place holders ONLY
+const int FunctionPin4 = 20;    //A0 Place holders ONLY
 
-const int FunctionPin5 = 15;    //A1
-const int FunctionPin6 = 16;    //A2
-const int FunctionPin7 = 17;    //A3
-const int FunctionPin8 = 18;    //A4
-const int FunctionPin9 = 19;    //A5
+const int FunctionPin5 = 20;    //A1 Place holders ONLY
+const int FunctionPin6 = 20;    //A2 Place holders ONLY
+const int FunctionPin7 = 18;    //A5 Place holders ONLY
+const int FunctionPin8 = 19;    //A4 Place holders ONLY
 
+const int AudioTriggerPin = 17;  //A3  NOW USED AS Audio Trigger Pin INPUT_PULLUP
+
+const int FunctionPin9  = 20;   // Place holders ONLY
 const int FunctionPin10 = 20;   // Place holders ONLY
-const int FunctionPin11 = 20;
-const int FunctionPin12 = 20;
-const int FunctionPin13 = 20;
-const int FunctionPin14 = 20;
-const int FunctionPin15 = 20;
-const int FunctionPin16 = 20;
+const int FunctionPin11 = 20;   // Place holders ONLY
+const int FunctionPin12 = 20;   // Place holders ONLY
+const int FunctionPin13 = 20;   // Place holders ONLY
+const int FunctionPin14 = 20;   // Place holders ONLY
+const int FunctionPin15 = 20;   // Place holders ONLY
+const int FunctionPin16 = 20;   // Place holders ONLY
 
 int Function13_value = 0;
 int Function14_value = 0;
@@ -227,7 +236,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
    
 #if defined(DECODER_LOADED)
@@ -336,14 +345,28 @@ void loop()   //****************************************************************
   Dcc.process();
   SoftwareServo::refresh();
   delay(2);
+  #ifdef DEBUG
+   Serial.print("Motor1Speed= ");
+   Serial.println(Motor1Speed, DEC) ;
+   Serial.print("Motor2Speed= ");
+   Serial.println(Motor2Speed, DEC) ;
+#endif  
   if (Motor1Speed != 0) {
-    if (Motor1ForwardDir == 0)  gofwd1 (fwdtime, int((Motor1Speed&0x7f)*21));
-    else gobwd1 (bwdtime, int((Motor1Speed&0x7f)*21));
+    if (Motor1ForwardDir == 0)  gofwd1 (fwdtime, Motor1Speed<<4);
+      else gobwd1 (bwdtime, Motor1Speed<<4); 
   }
+  else {
+      digitalWrite(m2h, LOW);     //Motor1 OFF
+      digitalWrite(m2l, LOW);     //Motor1 OFF
+    }
   if (Motor2Speed != 0) {
-    if (Motor2ForwardDir == 0)  gofwd2 (fwdtime, int((Motor2Speed&0x7f)*21));
-    else gobwd2 (bwdtime, int((Motor2Speed&0x7f)*21));
-  }
+    if (Motor2ForwardDir == 0)  gofwd2 (fwdtime, Motor2Speed<<4);
+      else  gobwd2 (bwdtime, Motor2Speed<<4);
+      }
+    else {
+    digitalWrite(m0h, LOW);     //Motor1 OFF
+    digitalWrite(m0l, LOW);     //Motor1 OFF
+   }
   //
   for (int i=0; i < num_active_fpins; i++) {
     if (ftn_queue[i].inuse==1)  {
@@ -432,65 +455,78 @@ void loop()   //****************************************************************
 }
 void gofwd1(int fcnt,int fcycle) {
    int icnt;
-   int totcycle;
+   int delta_tp,delta_tm;
+   delta_tp = fcycle+loopdelay<<2;
+   delta_tm = cyclewidth-fcycle-loopdelay;
    icnt = 0;
    while (icnt < fcnt)
   {
     digitalWrite(m2h, HIGH);     //Motor1
-    delayMicroseconds(fcycle);
+    delayMicroseconds(delta_tp);
     digitalWrite(m2h, LOW);     //Motor1
-    delayMicroseconds(cyclewidth - fcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gobwd1(int bcnt,int bcycle) {
    int icnt;
+   int delta_tp,delta_tm;
+   delta_tp = bcycle+loopdelay<<2;
+   delta_tm = cyclewidth-bcycle-loopdelay;
    icnt=0;
    while (icnt < bcnt)
   {
     digitalWrite(m2l, HIGH);     //Motor1
-    delayMicroseconds(bcycle); 
+    delayMicroseconds(delta_tp); 
     digitalWrite(m2l, LOW);      //Motor1
-    delayMicroseconds(cyclewidth - bcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gofwd2(int fcnt,int fcycle) {
    int icnt;
-   int totcycle;
+   int delta_tp,delta_tm;
+   delta_tp = fcycle+loopdelay<<2;
+   delta_tm = cyclewidth-fcycle-loopdelay;
    icnt = 0;
    while (icnt < fcnt)
   {
     digitalWrite(m0h, HIGH);     //Motor2
-    delayMicroseconds(fcycle);
+    delayMicroseconds(delta_tp);
     digitalWrite(m0h, LOW);     //Motor2
-    delayMicroseconds(cyclewidth - fcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void gobwd2(int bcnt,int bcycle) {
    int icnt;
+   int delta_tp,delta_tm;
+   delta_tp = bcycle+loopdelay<<2;
+   delta_tm = cyclewidth-bcycle-loopdelay;
    icnt=0;
    while (icnt < bcnt)
   {
     digitalWrite(m0l, HIGH);     //Motor2
-    delayMicroseconds(bcycle); 
+    delayMicroseconds(delta_tp); 
     digitalWrite(m0l, LOW);      //Motor2
-    delayMicroseconds(cyclewidth - bcycle);
+    delayMicroseconds(delta_tm);
     icnt++;
   }
 }
 void notifyDccSpeed( uint16_t Addr, DCC_ADDR_TYPE AddrType, uint8_t Speed, DCC_DIRECTION ForwardDir, DCC_SPEED_STEPS SpeedSteps )  {
    if (Function13_value==1)  {
-     Motor1Speed = Speed;
+     Motor1Speed = (Speed & 0x7f );
+     if (Motor1Speed == 1)  Motor1Speed=0;
      Motor1ForwardDir  = ForwardDir;
    }
    if (Function14_value==1)  {
-     Motor2Speed       = Speed;
+     Motor2Speed = (Speed & 0x7f );
+     if (Motor2Speed == 1)  Motor2Speed=0;
      Motor2ForwardDir  = ForwardDir;
    }
 }
 
+
 void notifyDccFunc( uint16_t Addr, DCC_ADDR_TYPE AddrType, FN_GROUP FuncGrp, uint8_t FuncState)  {
 #ifdef DEBUG
    Serial.print("Addr= ");
@@ -666,4 +702,4 @@ void exec_function (int function, int pin, int FuncState)  {
    void mp3_single_loop (boolean state);  //set single loop 
    void mp3_DAC (boolean state); 
    void mp3_random_play (); 
- */
+ */

examples/SMA/Dec_7Serv_10LED_6Ftn/Dec_7Serv_10LED_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production 17 Function DCC Decoder    Dec_7Serv_10LED_6Ftn.ino
-// Version 5.4  Geoff Bunza 2014,2015,2016
+// Version 6.01  Geoff Bunza 2014,2015,2016
 // NO LONGER REQUIRES modified software servo Lib
 // Software restructuring mods added from Alex Shepherd and Franz-Peter
 //   With sincere thanks
@@ -207,7 +207,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 100, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
    
 #if defined(DECODER_LOADED)

examples/SMA/Dec_Dir_and_Fade/Dec_Dir_and_Fade.ino

@@ -1,5 +1,5 @@
 // Production 17 Function DCC Decoder   Dec_Dir_and_Fade.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
 // LED control is dependent on direction of travel and Fade can be added
 
@@ -110,7 +110,7 @@ void setup()
   // Setup which External Interrupt, the Pin it's associated with that we're using and enable the Pull-Up 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
 }
 void loop()
 {

examples/SMA/Dec_SMA12_LED_Groups/Dec_SMA12_LED_Groups.ino

@@ -1,5 +1,5 @@
 // Production 17 Function DCC Decoder    Dec_SMA12_LED_Groups.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
 
 // NO LONGER REQUIRES modified software servo Lib
@@ -127,7 +127,7 @@ void setup()
     // Setup which External Interrupt, the Pin it's associated with that we're using and enable the Pull-Up 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
 #if defined(DECODER_LOADED)
   if ( Dcc.getCV(CV_DECODER_MASTER_RESET)== CV_DECODER_MASTER_RESET ) 

examples/SMA/Dec_Stepper_6Ftn/Dec_Stepper_6Ftn.ino

@@ -1,5 +1,5 @@
 // Production Stepper Drive DCC Decoder    Dec_Stepper_6Ftn.ino
-// Version 6.0  Geoff Bunza 2014,2015,2016,2017,2018
+// Version 6.01  Geoff Bunza 2014,2015,2016,2017,2018
 // Now works with both short and long DCC Addesses
 
 // NO LONGER REQUIRES modified software servo Lib
@@ -236,7 +236,7 @@ void setup()   //******************************************************
   // Setup which External Interrupt, the Pin it's associated with that we're using 
   Dcc.pin(0, 2, 0);
   // Call the main DCC Init function to enable the DCC Receiver
-  Dcc.init( MAN_ID_DIY, 600, FLAGS_MY_ADDRESS_ONLY, 0 );
+  Dcc.init( MAN_ID_DIY, 601, FLAGS_MY_ADDRESS_ONLY, 0 );
   delay(800);
    
 #if defined(DECODER_LOADED)

library.properties

@@ -1,6 +1,6 @@
 name=NmraDcc
-version=2.0.0
-author=Alex Shepherd, Wolfgang Kuffer, Geoff Bunza, Martin Pischky, Franz-Peter Müller, Sven (littleyoda)
+version=2.0.2
+author=Alex Shepherd, Wolfgang Kuffer, Geoff Bunza, Martin Pischky, Franz-Peter Müller, Sven (littleyoda), Hans Tanner
 maintainer=Alex Shepherd <kiwi64ajs@gmail.com>
 sentence=Enables NMRA DCC Communication 
 paragraph=This library allows you to interface to a NMRA DCC track signal and receive DCC commands. The library has been tested on AVR ATTiny84/85 & ATMega88/168/328/32u4, ESP8266 and Teensy 3.x using the INT0/1 Hardware Interrupt and micros() ONLY and no longer uses Timer0 Compare Match B, which makes it much more portable to other platforms.