AP_BoardConfig: support flow control on UARTs 6->8

libraries/AP_BoardConfig/AP_BoardConfig.cpp

@@ -152,6 +152,30 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     // @Description: Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
     AP_GROUPINFO("SER5_RTSCTS",    25, AP_BoardConfig, state.ser_rtscts[5], 2),
 #endif
+
+#ifdef HAL_HAVE_RTSCTS_SERIAL6
+    // @Param: SER6_RTSCTS
+    // @CopyFieldsFrom: BRD_SER1_RTSCTS
+    // @DisplayName: Serial 6 flow control
+    // @Description: Enable flow control on serial 6. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
+    AP_GROUPINFO("SER6_RTSCTS",    30, AP_BoardConfig, state.ser_rtscts[6], 2),
+#endif
+
+#ifdef HAL_HAVE_RTSCTS_SERIAL7
+    // @Param: SER7_RTSCTS
+    // @CopyFieldsFrom: BRD_SER1_RTSCTS
+    // @DisplayName: Serial 7 flow control
+    // @Description: Enable flow control on serial 7. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
+    AP_GROUPINFO("SER7_RTSCTS",    31, AP_BoardConfig, state.ser_rtscts[7], 2),
+#endif
+
+#ifdef HAL_HAVE_RTSCTS_SERIAL8
+    // @Param: SER8_RTSCTS
+    // @CopyFieldsFrom: BRD_SER8_RTSCTS
+    // @DisplayName: Serial 8 flow control
+    // @Description: Enable flow control on serial 8. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
+    AP_GROUPINFO("SER8_RTSCTS",    32, AP_BoardConfig, state.ser_rtscts[8], 2),
+#endif
 #endif
 
     // @Param: SAFETY_DEFLT
@@ -370,6 +394,10 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("IO_DSHOT", 28, AP_BoardConfig, state.io_dshot, 0),
 #endif
+
+    // index 30 used by SER6_RTSCTS
+    // index 31 used by SER7_RTSCTS
+    // index 32 used by SER8_RTSCTS
     AP_GROUPEND
 };
 

libraries/AP_BoardConfig/AP_BoardConfig.h

@@ -239,7 +239,7 @@ private:
         AP_Int16 safety_option;
         AP_Int32 ignore_safety_channels;
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-        AP_Int8 ser_rtscts[6];
+        AP_Int8 ser_rtscts[9];
         AP_Int8 sbus_out_rate;
 #endif
         AP_Int8 board_type;

libraries/AP_BoardConfig/board_drivers.cpp

@@ -415,6 +415,21 @@ void AP_BoardConfig::board_setup_uart()
         hal.serial(5)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[5].get());
     }
 #endif
+#ifdef HAL_HAVE_RTSCTS_SERIAL6
+    if (hal.serial(6) != nullptr) {
+        hal.serial(6)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[6].get());
+    }
+#endif
+#ifdef HAL_HAVE_RTSCTS_SERIAL7
+    if (hal.serial(7) != nullptr) {
+        hal.serial(7)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[7].get());
+    }
+#endif
+#ifdef HAL_HAVE_RTSCTS_SERIAL8
+    if (hal.serial(8) != nullptr) {
+        hal.serial(8)->set_flow_control((AP_HAL::UARTDriver::flow_control)state.ser_rtscts[8].get());
+    }
+#endif
 #endif
 }