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Mishna Berura Summaries

If you cannot daaven an entire Shemoneh Esray from beginning to end with kavana, do not daaven nedova. (ShA 4)
If you don’t know if you daavened or not – daaven again with the following condition: “If I did not daaven yet, this tefilla should be to fulfil my obligation – and if I already did, this should be for a nedova. (ShA 1 – MB 2)
This condition cannot be made on Shabbos or Yom Tov or for Mussaf Shemoneh Esray when nedova does not apply. Therefore, if you have a doubt about such tefillos you mustn’t daaven again. (ShA 1 – MB 5)
What should you do if you remember in the middle of Shemoneh Esray that you already daavened? Stop right there. Even in the middle of a beracha. (ShA 1)