AP_SerialManager: added options for each uart

used to control inversion of uarts

libraries/AP_SerialManager/AP_SerialManager.cpp

@@ -149,6 +149,54 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("6_BAUD", 13, AP_SerialManager, state[6].baud, SERIAL6_BAUD),
 
+    // @Param: 1_OPTIONS
+    // @DisplayName: Telem1 options
+    // @Description: Control over UART options
+    // @Bitmask: 0:InvertRX,1:InvertTX
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("1_OPTIONS",  14, AP_SerialManager, state[1].options, 0),
+
+    // @Param: 2_OPTIONS
+    // @DisplayName: Telem2 options
+    // @Description: Control over UART options
+    // @Bitmask: 0:InvertRX,1:InvertTX
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("2_OPTIONS",  15, AP_SerialManager, state[2].options, 0),
+
+    // @Param: 3_OPTIONS
+    // @DisplayName: Serial3 options
+    // @Description: Control over UART options
+    // @Bitmask: 0:InvertRX,1:InvertTX
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("3_OPTIONS",  16, AP_SerialManager, state[3].options, 0),
+
+    // @Param: 4_OPTIONS
+    // @DisplayName: Serial4 options
+    // @Description: Control over UART options
+    // @Bitmask: 0:InvertRX,1:InvertTX
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("4_OPTIONS",  17, AP_SerialManager, state[4].options, 0),
+
+    // @Param: 5_OPTIONS
+    // @DisplayName: Serial5 options
+    // @Description: Control over UART options
+    // @Bitmask: 0:InvertRX,1:InvertTX
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("5_OPTIONS",  18, AP_SerialManager, state[5].options, 0),
+
+    // @Param: 6_OPTIONS
+    // @DisplayName: Serial6 options
+    // @Description: Control over UART options
+    // @Bitmask: 0:InvertRX,1:InvertTX
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("6_OPTIONS",  19, AP_SerialManager, state[6].options, 0),
+
     AP_GROUPEND
 };
 
@@ -201,6 +249,12 @@ void AP_SerialManager::init()
 #endif
         
         if (state[i].uart != nullptr) {
+
+            // see if special options have been requested
+            if (state[i].protocol != SerialProtocol_None && state[i].options) {
+                set_options(i);
+            }
+
             switch (state[i].protocol) {
                 case SerialProtocol_None:
                     break;
@@ -425,6 +479,16 @@ bool AP_SerialManager::protocol_match(enum SerialProtocol protocol1, enum Serial
     return false;
 }
 
+// setup any special options
+void AP_SerialManager::set_options(uint8_t i)
+{
+    struct UARTState &opt = state[i];
+    // pass through to HAL
+    if (!opt.uart->set_options(opt.options)) {
+        hal.console->printf("Unable to setup options for Serial%u\n", i);
+    }
+}
+
 
 namespace AP {
 

libraries/AP_SerialManager/AP_SerialManager.h

@@ -147,6 +147,7 @@ private:
         AP_Int8 protocol;
         AP_Int32 baud;
         AP_HAL::UARTDriver* uart;
+        AP_Int16 options;
     } state[SERIALMANAGER_NUM_PORTS];
 
     // search through managed serial connections looking for the
@@ -158,6 +159,9 @@ private:
 
     // protocol_match - returns true if the protocols match
     bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const;
+
+    // setup any special options
+    void set_options(uint8_t i);
 };
 
 namespace AP {