diff --git a/src/machine/machine_atsamd21.go b/src/machine/machine_atsamd21.go
index b46dcef94..5768d8f04 100644
--- a/src/machine/machine_atsamd21.go
+++ b/src/machine/machine_atsamd21.go
@@ -621,6 +621,9 @@ func (uart *UART) Configure(config UARTConfig) error {
 	//sercom->USART.CTRLB.reg |= SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_RXEN ;
 	uart.Bus.CTRLB.SetBits(sam.SERCOM_USART_CTRLB_TXEN | sam.SERCOM_USART_CTRLB_RXEN)
 
+	// Configure RX/TX inversion
+	uart.setInversion(config)
+
 	// Enable USART1 port.
 	// sercom->USART.CTRLA.bit.ENABLE = 0x1u;
 	uart.Bus.CTRLA.SetBits(sam.SERCOM_USART_CTRLA_ENABLE)
diff --git a/src/machine/machine_atsamd51.go b/src/machine/machine_atsamd51.go
index 158be4911..1c7ea0411 100644
--- a/src/machine/machine_atsamd51.go
+++ b/src/machine/machine_atsamd51.go
@@ -1102,6 +1102,9 @@ func (uart *UART) Configure(config UARTConfig) error {
 	//sercom->USART.CTRLB.reg |= SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_RXEN ;
 	uart.Bus.CTRLB.SetBits(sam.SERCOM_USART_INT_CTRLB_TXEN | sam.SERCOM_USART_INT_CTRLB_RXEN)
 
+	// Configure RX/TX inversion
+	uart.setInversion(config)
+
 	// Enable USART1 port.
 	// sercom->USART.CTRLA.bit.ENABLE = 0x1u;
 	uart.Bus.CTRLA.SetBits(sam.SERCOM_USART_INT_CTRLA_ENABLE)
diff --git a/src/machine/machine_esp32.go b/src/machine/machine_esp32.go
index 3f715e6de..060a3b0ba 100644
--- a/src/machine/machine_esp32.go
+++ b/src/machine/machine_esp32.go
@@ -332,10 +332,20 @@ func (uart *UART) Configure(config UARTConfig) {
 
 	if config.RX != NoPin {
 		config.RX.configure(PinConfig{Mode: PinInputPullup}, uart.TXRXSignal)
+		if config.InvertRX {
+			inFunc(uart.TXRXSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SEL | uint32(config.RX)<<esp.GPIO_FUNC_IN_SEL_CFG_IN_SEL_Pos | esp.GPIO_FUNC_IN_SEL_CFG_IN_INV_SEL)
+		} else {
+			inFunc(uart.TXRXSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SEL | uint32(config.RX)<<esp.GPIO_FUNC_IN_SEL_CFG_IN_SEL_Pos)
+		}
 	}
 
 	if config.TX != NoPin {
 		config.TX.configure(PinConfig{Mode: PinOutput}, uart.TXRXSignal)
+		if config.InvertTX {
+			config.TX.outFunc().Set(uart.TXRXSignal | esp.GPIO_FUNC_OUT_SEL_CFG_INV_SEL)
+		} else {
+			config.TX.outFunc().Set(uart.TXRXSignal)
+		}
 	}
 
 	if config.RTS != NoPin {
diff --git a/src/machine/machine_esp32c3.go b/src/machine/machine_esp32c3.go
index 2fd1746b3..1fa90e774 100644
--- a/src/machine/machine_esp32c3.go
+++ b/src/machine/machine_esp32c3.go
@@ -447,9 +447,17 @@ func (uart *UART) setupPins(config UARTConfig, regs registerSet) {
 	config.TX.Configure(PinConfig{Mode: PinInputPullup})
 
 	// link TX with GPIO signal X (technical reference manual 5.10) (this is not interrupt signal!)
-	config.TX.outFunc().Set(regs.gpioMatrixSignal)
+	if config.InvertTX {
+		config.TX.outFunc().Set(regs.gpioMatrixSignal | esp.GPIO_FUNC_OUT_SEL_CFG_INV_SEL)
+	} else {
+		config.TX.outFunc().Set(regs.gpioMatrixSignal)
+	}
 	// link RX with GPIO signal X and route signals via GPIO matrix (GPIO_SIGn_IN_SEL 0x40)
-	inFunc(regs.gpioMatrixSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SEL | uint32(config.RX))
+	if config.InvertRX {
+		inFunc(regs.gpioMatrixSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SEL | uint32(config.RX) | esp.GPIO_FUNC_IN_SEL_CFG_IN_INV_SEL)
+	} else {
+		inFunc(regs.gpioMatrixSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SEL | uint32(config.RX))
+	}
 }
 
 func (uart *UART) configureInterrupt(intrMapReg *volatile.Register32) { // Disable all UART interrupts
diff --git a/src/machine/machine_esp32c6.go b/src/machine/machine_esp32c6.go
index 50996dd72..683de1f7c 100644
--- a/src/machine/machine_esp32c6.go
+++ b/src/machine/machine_esp32c6.go
@@ -460,9 +460,17 @@ func (uart *UART) setupPins(config UARTConfig, regs registerSet) {
 	config.TX.Configure(PinConfig{Mode: PinInputPullup})
 
 	// link TX with GPIO signal X (technical reference manual, GPIO matrix)
-	config.TX.outFunc().Set(regs.gpioMatrixSignal)
+	if config.InvertTX {
+		config.TX.outFunc().Set(regs.gpioMatrixSignal | esp.GPIO_FUNC_OUT_SEL_CFG_INV_SEL)
+	} else {
+		config.TX.outFunc().Set(regs.gpioMatrixSignal)
+	}
 	// link RX with GPIO signal X and route signals via GPIO matrix
-	inFunc(regs.gpioMatrixSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SEL | uint32(config.RX))
+	if config.InvertRX {
+		inFunc(regs.gpioMatrixSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SEL | uint32(config.RX) | esp.GPIO_FUNC_IN_SEL_CFG_IN_INV_SEL)
+	} else {
+		inFunc(regs.gpioMatrixSignal).Set(esp.GPIO_FUNC_IN_SEL_CFG_SEL | uint32(config.RX))
+	}
 }
 
 func (uart *UART) configureInterrupt(intrMapReg *volatile.Register32) {
diff --git a/src/machine/machine_rp2_gpio.go b/src/machine/machine_rp2_gpio.go
index 25d76261f..94226ad6f 100644
--- a/src/machine/machine_rp2_gpio.go
+++ b/src/machine/machine_rp2_gpio.go
@@ -141,6 +141,16 @@ func (p Pin) setSchmitt(trigger bool) {
 	p.padCtrl().ReplaceBits(boolToBit(trigger)<<rp.PADS_BANK0_GPIO0_SCHMITT_Pos, rp.PADS_BANK0_GPIO0_SCHMITT_Msk, 0)
 }
 
+// setOutOver sets the output override (OUTOVER field) for the pin.
+func (p Pin) setOutOver(over uint32) {
+	p.ioCtrl().ReplaceBits(over<<rp.IO_BANK0_GPIO0_CTRL_OUTOVER_Pos, rp.IO_BANK0_GPIO0_CTRL_OUTOVER_Msk, 0)
+}
+
+// setInOver sets the input override (INOVER field) for the pin.
+func (p Pin) setInOver(over uint32) {
+	p.ioCtrl().ReplaceBits(over<<rp.IO_BANK0_GPIO0_CTRL_INOVER_Pos, rp.IO_BANK0_GPIO0_CTRL_INOVER_Msk, 0)
+}
+
 // setFunc will set pin function to fn.
 func (p Pin) setFunc(fn pinFunc) {
 	// Set input enable, Clear output disable
diff --git a/src/machine/machine_rp2_uart.go b/src/machine/machine_rp2_uart.go
index 37e2ca9c2..8405ebe60 100644
--- a/src/machine/machine_rp2_uart.go
+++ b/src/machine/machine_rp2_uart.go
@@ -52,9 +52,19 @@ func (uart *UART) Configure(config UARTConfig) error {
 	// set GPIO mux to UART for the pins
 	if config.TX != NoPin {
 		config.TX.Configure(PinConfig{Mode: PinUART})
+		if config.InvertTX {
+			config.TX.setOutOver(rp.IO_BANK0_GPIO0_CTRL_OUTOVER_INVERT)
+		} else {
+			config.TX.setOutOver(rp.IO_BANK0_GPIO0_CTRL_OUTOVER_NORMAL)
+		}
 	}
 	if config.RX != NoPin {
 		config.RX.Configure(PinConfig{Mode: PinUART})
+		if config.InvertRX {
+			config.RX.setInOver(rp.IO_BANK0_GPIO0_CTRL_INOVER_INVERT)
+		} else {
+			config.RX.setInOver(rp.IO_BANK0_GPIO0_CTRL_INOVER_NORMAL)
+		}
 	}
 	if config.RTS != 0 {
 		config.RTS.Configure(PinConfig{Mode: PinOutput})
diff --git a/src/machine/machine_sam_uart_invert.go b/src/machine/machine_sam_uart_invert.go
new file mode 100644
index 000000000..2c7b2d0ca
--- /dev/null
+++ b/src/machine/machine_sam_uart_invert.go
@@ -0,0 +1,17 @@
+//go:build sam && (atsamd51 || atsame5x)
+
+package machine
+
+// Configure UART TX/RX line inversion using SVD-generated APIs.
+func (uart *UART) setInversion(config UARTConfig) {
+	if config.InvertTX {
+		uart.Bus.SetCTRLA_TXINV(1)
+	} else {
+		uart.Bus.SetCTRLA_TXINV(0)
+	}
+	if config.InvertRX {
+		uart.Bus.SetCTRLA_RXINV(1)
+	} else {
+		uart.Bus.SetCTRLA_RXINV(0)
+	}
+}
diff --git a/src/machine/machine_sam_uart_noinvert.go b/src/machine/machine_sam_uart_noinvert.go
new file mode 100644
index 000000000..5d4f9a0f9
--- /dev/null
+++ b/src/machine/machine_sam_uart_noinvert.go
@@ -0,0 +1,7 @@
+//go:build sam && !atsamd51 && !atsame5x
+
+package machine
+
+// Hardware inversion is not supported on SAMD21.
+func (uart *UART) setInversion(config UARTConfig) {
+}
diff --git a/src/machine/machine_stm32_uart.go b/src/machine/machine_stm32_uart.go
index 4c6a54658..f6758742d 100644
--- a/src/machine/machine_stm32_uart.go
+++ b/src/machine/machine_stm32_uart.go
@@ -56,6 +56,9 @@ func (uart *UART) Configure(config UARTConfig) {
 	// Set baud rate
 	uart.SetBaudRate(config.BaudRate)
 
+	// Configure RX/TX inversion
+	uart.setInversion(config)
+
 	// Enable USART port, tx, rx and rx interrupts
 	uart.Bus.CR1.Set(stm32.USART_CR1_TE | stm32.USART_CR1_RE | stm32.USART_CR1_RXNEIE | stm32.USART_CR1_UE)
 
diff --git a/src/machine/machine_stm32_uart_invert.go b/src/machine/machine_stm32_uart_invert.go
new file mode 100644
index 000000000..42c049d77
--- /dev/null
+++ b/src/machine/machine_stm32_uart_invert.go
@@ -0,0 +1,17 @@
+//go:build stm32 && !(stm32f1 || stm32f4)
+
+package machine
+
+// Configure UART TX/RX line inversion using SVD-generated APIs.
+func (uart *UART) setInversion(config UARTConfig) {
+	if config.InvertTX {
+		uart.Bus.SetCR2_TXINV(1)
+	} else {
+		uart.Bus.SetCR2_TXINV(0)
+	}
+	if config.InvertRX {
+		uart.Bus.SetCR2_RXINV(1)
+	} else {
+		uart.Bus.SetCR2_RXINV(0)
+	}
+}
diff --git a/src/machine/machine_stm32_uart_noinvert.go b/src/machine/machine_stm32_uart_noinvert.go
new file mode 100644
index 000000000..f0dc9f860
--- /dev/null
+++ b/src/machine/machine_stm32_uart_noinvert.go
@@ -0,0 +1,7 @@
+//go:build stm32 && (stm32f1 || stm32f4)
+
+package machine
+
+// Hardware inversion is not supported on F1/F4.
+func (uart *UART) setInversion(config UARTConfig) {
+}
diff --git a/src/machine/serial.go b/src/machine/serial.go
index 4aacc502e..3149bd6a0 100644
--- a/src/machine/serial.go
+++ b/src/machine/serial.go
@@ -13,6 +13,8 @@ type UARTConfig struct {
 	RX       Pin
 	RTS      Pin
 	CTS      Pin
+	InvertTX bool // Invert TX line (active low becomes active high, etc.)
+	InvertRX bool // Invert RX line (active low becomes active high, etc.)
 }
 
 // NullSerial is a serial version of /dev/null (or null router): it drops