From 019f441b2f947dcc77428a94b1ca466e708e04bf Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Jul 2019 14:58:31 +1000
Subject: [PATCH] HAL_Linux: added uartH

---
 libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 9 ++++++++-
 libraries/AP_HAL_Linux/Scheduler.cpp       | 1 +
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 6a69d5c4e5..17fe8576bd 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -66,6 +66,7 @@ static UARTDriver uartDDriver(false);
 static UARTDriver uartEDriver(false);
 static UARTDriver uartFDriver(false);
 static UARTDriver uartGDriver(false);
+static UARTDriver uartHDriver(false);
 
 static I2CDeviceManager i2c_mgr_instance;
 static SPIDeviceManager spi_mgr_instance;
@@ -220,6 +221,7 @@ HAL_Linux::HAL_Linux() :
         &uartEDriver,
         &uartFDriver,
         &uartGDriver,
+        &uartHDriver,
         &i2c_mgr_instance,
         &spi_mgr_instance,
         &analogIn,
@@ -237,7 +239,7 @@ HAL_Linux::HAL_Linux() :
 
 void _usage(void)
 {
-    printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath\n");
+    printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath -G uartGpath -H uartHpath\n");
     printf("Options:\n");
     printf("\tserial:\n");
     printf("                    -A /dev/ttyO4\n");
@@ -279,6 +281,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
         {"uartE",         true,  0, 'E'},
         {"uartF",         true,  0, 'F'},
         {"uartG",         true,  0, 'G'},
+        {"uartH",         true,  0, 'H'},
         {"log-directory",       true,  0, 'l'},
         {"terrain-directory",   true,  0, 't'},
         {"storage-directory",   true,  0, 's'},
@@ -316,6 +319,9 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
         case 'G':
             uartGDriver.set_device_path(gopt.optarg);
             break;
+        case 'H':
+            uartHDriver.set_device_path(gopt.optarg);
+            break;
         case 'l':
             utilInstance.set_custom_log_directory(gopt.optarg);
             break;
@@ -349,6 +355,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
     uartE->begin(115200);
     uartF->begin(115200);
     uartG->begin(115200);
+    uartH->begin(115200);
     analogin->init();
     utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
 
diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index 3b73076179..1cc012b27e 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -264,6 +264,7 @@ void Scheduler::_run_uarts()
     hal.uartE->_timer_tick();
     hal.uartF->_timer_tick();
     hal.uartG->_timer_tick();
+    hal.uartH->_timer_tick();
 }
 
 void Scheduler::_rcin_task()