From ac7a67fda0a68669f00a33e535d819d1d7795a50 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Jul 2019 14:58:43 +1000
Subject: [PATCH] HAL_SITL: added uartH

---
 libraries/AP_HAL_SITL/HAL_SITL_Class.cpp | 2 ++
 libraries/AP_HAL_SITL/SITL_cmdline.cpp   | 6 +++++-
 libraries/AP_HAL_SITL/Scheduler.cpp      | 1 +
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index 51bc6e0931d..0238cb0f270 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
@@ -49,6 +49,7 @@ static UARTDriver sitlUart3Driver(3, &sitlState);
 static UARTDriver sitlUart4Driver(4, &sitlState);
 static UARTDriver sitlUart5Driver(5, &sitlState);
 static UARTDriver sitlUart6Driver(6, &sitlState);
+static UARTDriver sitlUart7Driver(7, &sitlState);
 
 static Util utilInstance(&sitlState);
 
@@ -61,6 +62,7 @@ HAL_SITL::HAL_SITL() :
         &sitlUart4Driver,   /* uartE */
         &sitlUart5Driver,   /* uartF */
         &sitlUart6Driver,   /* uartG */
+        &sitlUart7Driver,   /* uartH */
         &i2c_mgr_instance,
         &emptySPI,          /* spi */
         &sitlAnalogIn,      /* analogin */
diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index 31348fc1cc5..e88850dc0bb 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -80,6 +80,7 @@ void SITL_State::_usage(void)
            "\t--uartE device           set device string for UARTE\n"
            "\t--uartF device           set device string for UARTF\n"
            "\t--uartG device           set device string for UARTG\n"
+           "\t--uartH device           set device string for UARTH\n"
            "\t--rtscts                 enable rtscts on serial ports (default false)\n"
            "\t--base-port PORT         set port num for base port(default 5670) must be before -I option\n"
            "\t--rc-in-port PORT        set port num for rc in\n"
@@ -190,10 +191,11 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         CMDLINE_UARTE,
         CMDLINE_UARTF,
         CMDLINE_UARTG,
+        CMDLINE_UARTH,
         CMDLINE_RTSCTS,
         CMDLINE_BASE_PORT,
         CMDLINE_RCIN_PORT,
-        CMDLINE_SIM_ADDRESS = 15,
+        CMDLINE_SIM_ADDRESS,
         CMDLINE_SIM_PORT_IN,
         CMDLINE_SIM_PORT_OUT,
         CMDLINE_IRLOCK_PORT,
@@ -223,6 +225,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {"uartE",           true,   0, CMDLINE_UARTE},
         {"uartF",           true,   0, CMDLINE_UARTF},
         {"uartG",           true,   0, CMDLINE_UARTG},
+        {"uartH",           true,   0, CMDLINE_UARTH},
         {"rtscts",          false,  0, CMDLINE_RTSCTS},
         {"base-port",       true,   0, CMDLINE_BASE_PORT},
         {"rc-in-port",      true,   0, CMDLINE_RCIN_PORT},
@@ -321,6 +324,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case CMDLINE_UARTE:
         case CMDLINE_UARTF:
         case CMDLINE_UARTG:
+        case CMDLINE_UARTH:
             _uart_path[opt - CMDLINE_UARTA] = gopt.optarg;
             break;
         case CMDLINE_RTSCTS:
diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index a74bb93b137..1ff369afd5b 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -205,6 +205,7 @@ void Scheduler::_run_io_procs()
     hal.uartE->_timer_tick();
     hal.uartF->_timer_tick();
     hal.uartG->_timer_tick();
+    hal.uartH->_timer_tick();
     hal.storage->_timer_tick();
 
     check_thread_stacks();