mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
AP_HAL: remove more px4 remnants
This commit is contained in:
Andrew Tridgell
parent
70e445d040
commit
20d762293d
@ -8,7 +8,7 @@
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#define HAL_BOARD_SITL 3
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#define HAL_BOARD_SMACCM 4 // unused
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#define HAL_BOARD_PX4 5
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#define HAL_BOARD_PX4 5 // unused
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#define HAL_BOARD_LINUX 7
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#define HAL_BOARD_VRBRAIN 8
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#define HAL_BOARD_CHIBIOS 10
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@ -39,25 +39,6 @@
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#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021
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#define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022
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/* HAL PX4 sub-types, starting at 2000 */
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#define HAL_BOARD_SUBTYPE_PX4_V1 2000
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#define HAL_BOARD_SUBTYPE_PX4_V2 2001
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#define HAL_BOARD_SUBTYPE_PX4_V4 2002
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#define HAL_BOARD_SUBTYPE_PX4_V3 2003
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#define HAL_BOARD_SUBTYPE_PX4_AEROFC_V1 2004
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#define HAL_BOARD_SUBTYPE_PX4_V4PRO 2005
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/* HAL VRBRAIN sub-types, starting at 4000 */
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V45 4000
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V51 4001
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V52 4002
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#define HAL_BOARD_SUBTYPE_VRUBRAIN_V51 4003
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#define HAL_BOARD_SUBTYPE_VRUBRAIN_V52 4004
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#define HAL_BOARD_SUBTYPE_VRCORE_V10 4005
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V54 4006
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V52E 4007
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/* HAL CHIBIOS sub-types, starting at 5000 */
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#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000
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#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001
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@ -170,8 +151,6 @@
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_HAL/board/sitl.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <AP_HAL/board/px4.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL/board/linux.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
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@ -18,10 +18,6 @@
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#include "HAL.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define AP_MAIN __EXPORT ArduPilot_main
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#endif
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#ifndef AP_MAIN
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#define AP_MAIN main
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#endif
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@ -1,161 +0,0 @@
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#pragma once
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#define HAL_BOARD_NAME "PX4"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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// put all storage of files under /fs/microsd/APM directory
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#ifndef HAL_BOARD_STORAGE_DIRECTORY
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#define HAL_BOARD_STORAGE_DIRECTORY "/fs/microsd/APM"
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#endif
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#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STORAGE_DIRECTORY "/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STORAGE_DIRECTORY "/TERRAIN"
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#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
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#define HAL_INS_DEFAULT HAL_INS_PX4
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#define HAL_BARO_DEFAULT HAL_BARO_PX4
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
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#define HAL_HAVE_GETTIME_SETTIME 1
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
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#define HAL_STORAGE_SIZE 8192
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#define HAL_MINIMIZE_FEATURES 1
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
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// check for V3 before V2 as V3 also defines V2
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V3
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#define HAL_STORAGE_SIZE 16384
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#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2
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#define HAL_IMU_TEMP_DEFAULT -1 // disabled
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#define HAL_WITH_UAVCAN 1
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
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#define HAL_STORAGE_SIZE 16384
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#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2
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#define HAL_IMU_TEMP_DEFAULT -1 // disabled
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#define HAL_WITH_UAVCAN 1
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#define HAL_MINIMIZE_FEATURES 1
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V4
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#define HAL_STORAGE_SIZE 16384
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#define HAL_WITH_UAVCAN 1
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V4PRO
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#define HAL_STORAGE_SIZE 16384
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#define HAL_WITH_UAVCAN 1
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#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
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#define HAL_STORAGE_SIZE 16384
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#define USE_FLASH_STORAGE 1
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#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS0"
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// we don't have any sdcard
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#undef HAL_BOARD_LOG_DIRECTORY
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#undef HAL_BOARD_TERRAIN_DIRECTORY
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#else
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#error "Unknown PX4 board type"
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#endif
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#define HAL_GPIO_A_LED_PIN 27
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#define HAL_GPIO_B_LED_PIN 26
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#define HAL_GPIO_C_LED_PIN 25
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#define HAL_GPIO_LED_ON 1
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#define HAL_GPIO_LED_OFF 0
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
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#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
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#define HAL_INS_MPU60x0_NAME "mpu6000"
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#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
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#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
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#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
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#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
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#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
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#define HAL_INS_MPU6500_NAME "mpu6500"
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#define HAL_INS_ICM20608_NAME "icm20608"
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#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
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#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
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#define HAL_COMPASS_HMC5843_NAME "hmc5843"
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#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
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/* px4fmu-v1 */
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define HAL_BARO_MS5611_I2C_ADDR 0x76
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#define HAL_BARO_MS5611_I2C_BUS 0
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#define HAL_PX4_HAVE_PWM_INPUT 0
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#endif
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/* px4fmu-v4 */
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
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#define HAL_PX4_HAVE_PX4IO 0
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#endif
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/* aerofc-v1 */
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#ifdef CONFIG_ARCH_BOARD_AEROFC_V1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_BARO_MS5607_I2C_BUS 0
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#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
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#define HAL_COMPASS_IST8310_I2C_BUS 1
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#define HAL_SERIAL0_BAUD_DEFAULT 921600
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#define HAL_HAVE_SAFETY_SWITCH 0
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#define HAL_PX4_HAVE_MTD_SUPPORT 0
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#define HAL_PX4_HAVE_PX4IO 0
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#define HAL_PX4_HAVE_PWM_INPUT 0
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#endif
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/* default values */
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#ifndef HAL_SERIAL0_BAUD_DEFAULT
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#endif
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#ifndef HAL_HAVE_BOARD_VOLTAGE
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#define HAL_HAVE_BOARD_VOLTAGE 1
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#endif
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#ifndef HAL_HAVE_SERVO_VOLTAGE
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#endif
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#ifndef HAL_PX4_HAVE_MTD_SUPPORT
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#define HAL_PX4_HAVE_MTD_SUPPORT 1
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#endif
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#ifndef HAL_PX4_HAVE_PX4IO
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#define HAL_PX4_HAVE_PX4IO 1
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#endif
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#ifndef HAL_PX4_HAVE_PWM_INPUT
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#define HAL_PX4_HAVE_PWM_INPUT 1
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#endif
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#ifndef HAL_HAVE_SAFETY_SWITCH
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#define HAL_HAVE_SAFETY_SWITCH 1
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#endif
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#ifndef AP_FEATURE_RTSCTS
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#define AP_FEATURE_RTSCTS 1
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#endif
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#ifndef AP_FEATURE_SBUS_OUT
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#define AP_FEATURE_SBUS_OUT 1
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#endif
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#ifndef HAL_WITH_UAVCAN
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#define HAL_WITH_UAVCAN 0
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#endif
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#include <AP_HAL_PX4/Semaphores.h>
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#define HAL_Semaphore PX4::Semaphore
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#define HAL_Semaphore_Recursive PX4::Semaphore_Recursive
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@ -1,104 +0,0 @@
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#pragma once
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#define HAL_BOARD_NAME "VRBRAIN"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
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#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
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#define HAL_INS_DEFAULT HAL_INS_VRBRAIN
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#define HAL_BARO_DEFAULT HAL_BARO_VRBRAIN
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_VRBRAIN
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#define HAL_HAVE_GETTIME_SETTIME 1
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#ifdef CONFIG_ARCH_BOARD_VRBRAIN_V45
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V45
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V51
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#define HAL_STORAGE_SIZE 16384
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52
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#define HAL_STORAGE_SIZE 16384
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52E)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52E
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V51
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V52
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_VRCORE_V10)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRCORE_V10
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#define HAL_STORAGE_SIZE 16384
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V54
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#define HAL_STORAGE_SIZE 16384
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#else
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#error "Unknown VRBRAIN board type"
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#endif
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#define HAL_GPIO_A_LED_PIN 25
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#define HAL_GPIO_B_LED_PIN 26
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#define HAL_GPIO_C_LED_PIN 27
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#define HAL_GPIO_LED_ON 1
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#define HAL_GPIO_LED_OFF 0
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#define EXTERNAL_LED_GPS 28 // GPS LED - AN10
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#define EXTERNAL_LED_ARMED 29 // Armed LED - AN11
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#define EXTERNAL_LED_MOTOR1 30 // Motor1 LED - AN8
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#define EXTERNAL_LED_MOTOR2 31 // Motor2 LED - AN12
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#define HAL_BUZZER_PIN 32
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
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#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
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#define HAL_BARO_MS5611_SPI_IMU_NAME "ms5611_imu"
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#define HAL_INS_MPU60x0_NAME "mpu6000"
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#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
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#define HAL_INS_MPU60x0_IMU_NAME "mpu6000_imu"
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#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
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#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
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#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
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#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
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#define HAL_INS_MPU6500_NAME "mpu6500"
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#define HAL_INS_ICM20608_NAME "icm20608"
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#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
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#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
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#define HAL_COMPASS_HMC5843_NAME "hmc5843"
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#define HAL_COMPASS_HMC5843_EXT_NAME "hmc5843_ext"
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#define HAL_COMPASS_HMC5843_IMU_NAME "hmc5843_imu"
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#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
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#ifndef HAL_HAVE_BOARD_VOLTAGE
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#endif
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#ifndef HAL_HAVE_BOARD_VOLTAGE
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#endif
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#ifndef HAL_PX4_HAVE_MTD_SUPPORT
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#define HAL_PX4_HAVE_MTD_SUPPORT 1
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#endif
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#ifndef HAL_PX4_HAVE_PWM_INPUT
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#define HAL_PX4_HAVE_PWM_INPUT 1
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#endif
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#ifndef HAL_HAVE_SAFETY_SWITCH
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#define HAL_HAVE_SAFETY_SWITCH 1
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#endif
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#include <AP_HAL_VRBRAIN/Semaphores.h>
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#define HAL_Semaphore VRBRAIN::Semaphore
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@ -6,7 +6,7 @@
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// we need a boardconfig created so that the io processor's enable
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// parameter is available
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#if HAL_WITH_IO_MCU || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#if HAL_WITH_IO_MCU
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_IOMCU/AP_IOMCU.h>
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AP_BoardConfig BoardConfig;
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@ -25,7 +25,7 @@ static uint16_t last_value[MAX_CHANNELS];
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void setup(void)
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{
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hal.console->printf("Starting RCInput test\n");
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#if HAL_WITH_IO_MCU || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#if HAL_WITH_IO_MCU
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BoardConfig.init();
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#endif
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}
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@ -1,52 +0,0 @@
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/*
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* Copyright (C) 2017 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
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#include "RCOutput_Tap.h"
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#include <termios.h>
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#include <string.h>
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namespace ap {
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bool RCOutput_Tap::_uart_set_speed(int speed)
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{
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if (_uart_fd < 0) {
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return false;
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}
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struct termios uart_config;
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memset(&uart_config, 0, sizeof(uart_config));
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tcgetattr(_uart_fd, &uart_config);
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// set baud rate
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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return false;
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}
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if (tcsetattr(_uart_fd, TCSANOW, &uart_config) < 0) {
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return false;
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}
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return true;
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}
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}
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#endif
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