Merge branch 'iNavFlight:master' into master

docs/Cli.md

@@ -107,7 +107,7 @@ While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0
 | `save` | Save and reboot |
 | `sd_info` | Sdcard info |
 | `serial` | Configure serial ports. [Usage](Serial.md) |
-| `serialpassthrough` | Passthrough serial data to port, with `<id> <baud> <mode>`, where `id` is the zero based port index, `baud` is a standard baud rate, and mode is `rx`, `tx`, or both (`rxtx`) |
+| `serialpassthrough` | Passthrough serial data to port, with `<id> <baud> <mode> <options>`, where `id` is the zero based port index, `baud` is a standard baud rate, mode is `rx`, `tx`, or both (`rxtx`), and options is a short string like `8N1` or `8E2` |
 | `servo` | Configure servos |
 | `set` | Change setting with name=value or blank or * for list |
 | `smix` | Custom servo mixer |

src/main/blackbox/blackbox.c

@@ -99,7 +99,7 @@
 #define BLACKBOX_INVERTED_CARD_DETECTION 0
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 3);
 
 PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .device = DEFAULT_BLACKBOX_DEVICE,
@@ -108,7 +108,8 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .invertedCardDetection = BLACKBOX_INVERTED_CARD_DETECTION,
     .includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS |
         BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC | BLACKBOX_FEATURE_ATTITUDE |
-        BLACKBOX_FEATURE_RC_DATA | BLACKBOX_FEATURE_RC_COMMAND | BLACKBOX_FEATURE_MOTORS,
+        BLACKBOX_FEATURE_RC_DATA | BLACKBOX_FEATURE_RC_COMMAND |
+        BLACKBOX_FEATURE_MOTORS | BLACKBOX_FEATURE_SERVOS,
 );
 
 void blackboxIncludeFlagSet(uint32_t mask)
@@ -334,24 +335,24 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"motor",       7, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_8)},
 
     /* servos */
-    {"servo",       0, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       1, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       2, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       3, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       4, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       5, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       6, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       7, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       8, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       9, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       10, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       11, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       12, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       13, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       14, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       15, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       16, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
-    {"servo",       17, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
+    {"servo",       0, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_1)},
+    {"servo",       1, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_2)},
+    {"servo",       2, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_3)},
+    {"servo",       3, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_4)},
+    {"servo",       4, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_5)},
+    {"servo",       5, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_6)},
+    {"servo",       6, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_7)},
+    {"servo",       7, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_8)},
+    {"servo",       8, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_9)},
+    {"servo",       9, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_10)},
+    {"servo",       10, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_11)},
+    {"servo",       11, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_12)},
+    {"servo",       12, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_13)},
+    {"servo",       13, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_14)},
+    {"servo",       14, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_15)},
+    {"servo",       15, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_16)},
+    {"servo",       16, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_17)},
+    {"servo",       17, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),      .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_18)},
 
     {"navState",  -1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"navFlags",  -1, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
@@ -654,7 +655,27 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
         return (getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1) && blackboxIncludeFlag(BLACKBOX_FEATURE_MOTORS);
 
     case FLIGHT_LOG_FIELD_CONDITION_SERVOS:
-        return isMixerUsingServos();
+        return blackboxIncludeFlag(BLACKBOX_FEATURE_SERVOS) && isMixerUsingServos();
+
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_2:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_3:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_4:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_5:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_6:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_7:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_8:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_9:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_10:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_11:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_12:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_13:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_14:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_15:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_16:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_17:
+    case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_18:
+	return ((FlightLogFieldCondition)getServoCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1 + 1) && blackboxIncludeFlag(BLACKBOX_FEATURE_SERVOS);
 
     case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
     case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
@@ -955,7 +976,8 @@ static void writeIntraframe(void)
     }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SERVOS)) {
-        for (int x = 0; x < MAX_SUPPORTED_SERVOS; x++) {
+        const int servoCount = getServoCount();
+        for (int x = 0; x < servoCount; x++) {
             //Assume that servos spends most of its time around the center
             blackboxWriteSignedVB(blackboxCurrent->servo[x] - 1500);
         }
@@ -1214,7 +1236,7 @@ static void writeInterframe(void)
     }
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SERVOS)) {
-        blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, servo),     MAX_SUPPORTED_SERVOS);
+        blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, servo),     getServoCount());
     }
 
     blackboxWriteSignedVB(blackboxCurrent->navState - blackboxLast->navState);
@@ -1682,7 +1704,8 @@ static void loadMainState(timeUs_t currentTimeUs)
 
     blackboxCurrent->rssi = getRSSI();
 
-    for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+    const int servoCount = getServoCount();
+    for (int i = 0; i < servoCount; i++) {
         blackboxCurrent->servo[i] = servo[i];
     }
 

src/main/blackbox/blackbox.h

@@ -35,6 +35,7 @@ typedef enum {
     BLACKBOX_FEATURE_GYRO_PEAKS_ROLL    = 1 << 10,
     BLACKBOX_FEATURE_GYRO_PEAKS_PITCH   = 1 << 11,
     BLACKBOX_FEATURE_GYRO_PEAKS_YAW     = 1 << 12,
+    BLACKBOX_FEATURE_SERVOS             = 1 << 13,
 } blackboxFeatureMask_e;
 typedef struct blackboxConfig_s {
     uint16_t rate_num;
@@ -55,4 +56,4 @@ void blackboxFinish(void);
 bool blackboxMayEditConfig(void);
 void blackboxIncludeFlagSet(uint32_t mask);
 void blackboxIncludeFlagClear(uint32_t mask);
-bool blackboxIncludeFlag(uint32_t mask);
+bool blackboxIncludeFlag(uint32_t mask);

src/main/blackbox/blackbox_fielddefs.h

@@ -33,7 +33,26 @@ typedef enum FlightLogFieldCondition {
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6,
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7,
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8,
+
     FLIGHT_LOG_FIELD_CONDITION_SERVOS,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_2,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_3,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_4,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_5,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_6,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_7,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_8,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_9,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_10,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_11,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_12,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_13,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_14,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_15,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_16,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_17,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_18,
 
     FLIGHT_LOG_FIELD_CONDITION_MAG,
     FLIGHT_LOG_FIELD_CONDITION_BARO,

src/main/drivers/serial.c

@@ -86,6 +86,11 @@ void serialSetMode(serialPort_t *instance, portMode_t mode)
     instance->vTable->setMode(instance, mode);
 }
 
+void serialSetOptions(serialPort_t *instance, portOptions_t options)
+{
+    instance->vTable->setOptions(instance, options);
+}
+
 void serialWriteBufShim(void *instance, const uint8_t *data, int count)
 {
     serialWriteBuf((serialPort_t *)instance, data, count);

src/main/drivers/serial.h

@@ -95,6 +95,8 @@ struct serialPortVTable {
 
     void (*setMode)(serialPort_t *instance, portMode_t mode);
 
+    void (*setOptions)(serialPort_t *instance, portOptions_t options);
+
     void (*writeBuf)(serialPort_t *instance, const void *data, int count);
 
     bool (*isConnected)(const serialPort_t *instance);
@@ -113,6 +115,7 @@ void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count);
 uint8_t serialRead(serialPort_t *instance);
 void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate);
 void serialSetMode(serialPort_t *instance, portMode_t mode);
+void serialSetOptions(serialPort_t *instance, portOptions_t options);
 bool isSerialTransmitBufferEmpty(const serialPort_t *instance);
 void serialPrint(serialPort_t *instance, const char *str);
 uint32_t serialGetBaudRate(serialPort_t *instance);

src/main/drivers/serial_softserial.c

@@ -623,6 +623,11 @@ void softSerialSetMode(serialPort_t *instance, portMode_t mode)
     instance->mode = mode;
 }
 
+void softSerialSetOptions(serialPort_t *instance, portOptions_t options)
+{
+    instance->options = options;
+}
+
 bool isSoftSerialTransmitBufferEmpty(const serialPort_t *instance)
 {
     return instance->txBufferHead == instance->txBufferTail;
@@ -636,6 +641,7 @@ static const struct serialPortVTable softSerialVTable = {
     .serialSetBaudRate = softSerialSetBaudRate,
     .isSerialTransmitBufferEmpty = isSoftSerialTransmitBufferEmpty,
     .setMode = softSerialSetMode,
+    .setOptions = softSerialSetOptions,
     .isConnected = NULL,
     .writeBuf = NULL,
     .beginWrite = NULL,

src/main/drivers/serial_tcp.c

@@ -317,6 +317,12 @@ void tcpSetMode(serialPort_t *instance, portMode_t mode)
     UNUSED(mode);
 }
 
+void tcpSetOptions(serialPort_t *instance, portOptions_t options)
+{
+    UNUSED(instance);
+    UNUSED(options);
+}
+
 static const struct serialPortVTable tcpVTable[] = {
     {
         .serialWrite = tcpWrite,
@@ -326,6 +332,7 @@ static const struct serialPortVTable tcpVTable[] = {
         .serialSetBaudRate = tcpSetBaudRate,
         .isSerialTransmitBufferEmpty = isTcpTransmitBufferEmpty,
         .setMode = tcpSetMode,
+        .setOptions = tcpSetOptions,
         .isConnected = tcpIsConnected,
         .writeBuf = tcpWritBuf,
         .beginWrite = NULL,

src/main/drivers/serial_uart.c

@@ -175,6 +175,13 @@ void uartSetMode(serialPort_t *instance, portMode_t mode)
     uartReconfigure(uartPort);
 }
 
+void uartSetOptions(serialPort_t *instance, portOptions_t options)
+{
+    uartPort_t *uartPort = (uartPort_t *)instance;
+    uartPort->port.options = options;
+    uartReconfigure(uartPort);
+}
+
 uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance)
 {
     const uartPort_t *s = (const uartPort_t*)instance;
@@ -255,6 +262,7 @@ const struct serialPortVTable uartVTable[] = {
         .serialSetBaudRate = uartSetBaudRate,
         .isSerialTransmitBufferEmpty = isUartTransmitBufferEmpty,
         .setMode = uartSetMode,
+        .setOptions = uartSetOptions,
         .isConnected = NULL,
         .writeBuf = NULL,
         .beginWrite = NULL,

src/main/drivers/serial_uart_hal.c

@@ -185,6 +185,13 @@ void uartSetMode(serialPort_t *instance, portMode_t mode)
     uartReconfigure(uartPort);
 }
 
+void uartSetOptions(serialPort_t *instance, portOptions_t options)
+{
+    uartPort_t *uartPort = (uartPort_t *)instance;
+    uartPort->port.options = options;
+    uartReconfigure(uartPort);
+}
+
 uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance)
 {
     uartPort_t *s = (uartPort_t*)instance;
@@ -266,6 +273,7 @@ const struct serialPortVTable uartVTable[] = {
         .serialSetBaudRate = uartSetBaudRate,
         .isSerialTransmitBufferEmpty = isUartTransmitBufferEmpty,
         .setMode = uartSetMode,
+        .setOptions = uartSetOptions,
         .isConnected = NULL,
         .writeBuf = NULL,
         .beginWrite = NULL,

src/main/drivers/serial_uart_hal_at32f43x.c

@@ -178,6 +178,13 @@ void uartSetMode(serialPort_t *instance, portMode_t mode)
     uartReconfigure(uartPort);
 }
 
+void uartSetOptions(serialPort_t *instance, portOptions_t options)
+{
+    uartPort_t *uartPort = (uartPort_t *)instance;
+    uartPort->port.options = options;
+    uartReconfigure(uartPort);
+}
+
 uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance)
 {
     const uartPort_t *s = (const uartPort_t*)instance;
@@ -260,6 +267,7 @@ const struct serialPortVTable uartVTable[] = {
         .serialSetBaudRate = uartSetBaudRate,
         .isSerialTransmitBufferEmpty = isUartTransmitBufferEmpty,
         .setMode = uartSetMode,
+        .setOptions = uartSetOptions,
         .isConnected = NULL,
         .writeBuf = NULL,
         .beginWrite = NULL,

src/main/drivers/serial_usb_vcp.c

@@ -67,6 +67,14 @@ static void usbVcpSetMode(serialPort_t *instance, portMode_t mode)
     // TODO implement
 }
 
+static void usbVcpSetOptions(serialPort_t *instance, portOptions_t options)
+{
+    UNUSED(instance);
+    UNUSED(options);
+
+    // TODO implement
+}
+
 static bool isUsbVcpTransmitBufferEmpty(const serialPort_t *instance)
 {
     UNUSED(instance);
@@ -184,6 +192,7 @@ static const struct serialPortVTable usbVTable[] = {
         .serialSetBaudRate = usbVcpSetBaudRate,
         .isSerialTransmitBufferEmpty = isUsbVcpTransmitBufferEmpty,
         .setMode = usbVcpSetMode,
+        .setOptions = usbVcpSetOptions,
         .isConnected = usbVcpIsConnected,
         .writeBuf = usbVcpWriteBuf,
         .beginWrite = usbVcpBeginWrite,