mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[telemetry] Bluegiga: cleanup
- LED not hardcoded - SPI LINK configurable form airframe file - subsystem for shared and fixedwing
This commit is contained in:
Christophe De Wagter
committed by
Felix Ruess
Felix Ruess
parent
dad0fbb8a6
commit
cdfa5a0bda
@@ -283,7 +283,6 @@ clean:
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$(Q)rm -f $(GEN_HEADERS)
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$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
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$(Q)$(MAKE) -C $(EXT) clean
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$(Q)$(MAKE) -C $(TOOLS)/bluegiga_usb_dongle clean
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$(Q)find . -name '*~' -exec rm -f {} \;
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cleanspaces:
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@@ -33,6 +33,7 @@ BARO_LED ?= none
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AHRS_ALIGNER_LED ?= 2
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GPS_LED ?= none
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SYS_TIME_LED ?= 1
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MODEM_LED ?= 3
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#
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# default uart configuration
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@@ -0,0 +1,14 @@
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# Hey Emacs, this is a -*- makefile -*-
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# include shared part for ap
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ifeq ($(TARGET),ap)
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include $(CFG_SHARED)/telemetry_bluegiga.makefile
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endif
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ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/ap_downlink.c
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# avoid fbw_telemetry_mode error
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ap.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
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fbw.srcs += $(SRC_FIRMWARE)/fbw_downlink.c
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@@ -1,17 +1,9 @@
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#
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# The bluegiga module as telemetry downlink/uplink
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# The bluegiga module as telemetry downlink/uplink for rotorcraft
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#
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#
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ap.CFLAGS += -DUSE_$(MODEM_PORT)
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ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
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ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=bluegiga_p
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ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=BLUEGIGA
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#ap.CFLAGS += -DDefaultPeriodic='&telemetry_Main'
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ap.CFLAGS += -DUSE_SPI2_SLAVE -DSPI_SLAVE
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ifeq ($(TARGET), ap)
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include $(CFG_SHARED)/telemetry_bluegiga.makefile
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endif
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# for some reason the following line required to get GPS over datalink working
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ap.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B38400
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ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/bluegiga.c subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
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ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
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@@ -0,0 +1,35 @@
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#
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# The bluegiga module as telemetry downlink/uplink
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#
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# On Lisa-s, the Superbit-RF module can be replaced with a
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# bluegiga-bluetooth 4 low power board. This subsystem puts
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# the telemetry over this bluetooth 4 link.
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#
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# Bluegiga is a SPI-slave device without Chip select but with a compulsory DRDY
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#
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# Required:
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# #define BLUEGIGA_SPI_DEV: the SPI device which MUST have a SLAVE mode without chipselect
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#
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# Optional: (defaults to SUPERBITRF DRDY)
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# #define BLUEGIGA_DRDY_GPIO
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# #define BLUEGIGA_DRDY_GPIO_PIN
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# Include SPI if not yet included
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include $(CFG_SHARED)/spi_master.makefile
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# Set downlink to paparazzi transport over bluegiga protocol over SPI slave
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ap.CFLAGS += -DDOWNLINK -DPERIODIC_TELEMETRY -DDOWNLINK_DEVICE=bluegiga_p
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ap.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=BLUEGIGA
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BLUEGIGA_SPI_DEV ?= SPI2
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BLUEGIGA_SPI_DEV_LOWER=$(shell echo $(BLUEGIGA_SPI_DEV) | tr A-Z a-z)
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ap.CFLAGS += -DUSE_$(BLUEGIGA_SPI_DEV)_SLAVE -DSPI_SLAVE -DBLUEGIGA_SPI_DEV=$(BLUEGIGA_SPI_DEV_LOWER)
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# LED
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MODEM_LED ?= none
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ifneq ($(MODEM_LED),none)
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ap.CFLAGS += -DMODEM_LED=$(MODEM_LED)
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endif
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ap.srcs += $(SRC_SUBSYSTEMS)/datalink/downlink.c $(SRC_SUBSYSTEMS)/datalink/bluegiga.c
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ap.srcs += $(SRC_SUBSYSTEMS)/datalink/pprz_transport.c $(SRC_SUBSYSTEMS)/datalink/telemetry.c
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@@ -1313,7 +1313,7 @@ void dma1_channel2_isr(void) {
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// SPI arch slave init
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#if USE_SPI2_SLAVE
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#warning "STM32-SPI2 slave: Configured not to use the NSS pin"
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PRINT_CONFIG_MSG("STM32-SPI2 slave: Configured not to use the NSS pin")
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#ifndef STM32F1
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#error "SPI2 slave on STM32 only implemented for STM32F1"
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@@ -31,19 +31,16 @@
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#include "mcu_periph/gpio.h"
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#ifndef BLUEGIGA_SPI_DEV
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#define BLUEGIGA_SPI_DEV spi2
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#endif
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#ifndef BLUEGIGA_SLAVE_IDX
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#define BLUEGIGA_SLAVE_IDX SPI_SLAVE2
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#error "bluegiga: must define a BLUEGIGA_SPI_DEV"
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#endif
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// Bluegiga: DRDY defaults to SuperbitRf DRDY
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#ifndef BLUEGIGA_DRDY_GPIO
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#define BLUEGIGA_DRDY_GPIO GPIOC
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#define BLUEGIGA_DRDY_GPIO SUPERBITRF_DRDY_PORT
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#endif
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#ifndef BLUEGIGA_DRDY_GPIO_PIN
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#define BLUEGIGA_DRDY_GPIO_PIN GPIO6
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#define BLUEGIGA_DRDY_GPIO_PIN SUPERBITRF_DRDY_PIN
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#endif
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enum BlueGigaStatus coms_status;
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@@ -73,14 +70,16 @@ static void trans_cb(struct spi_transaction *trans __attribute__((unused)))
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void bluegiga_init(void)
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{
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LED_INIT(3);
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#ifdef MODEM_LED
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LED_INIT(MODEM_LED);
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#endif
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// configure the SPI bus.
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bluegiga_spi.input_buf = bluegiga_p.work_rx;
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bluegiga_spi.output_buf = bluegiga_p.work_tx;
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bluegiga_spi.input_length = 20;
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bluegiga_spi.output_length = 20;
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bluegiga_spi.slave_idx = BLUEGIGA_SLAVE_IDX;
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bluegiga_spi.slave_idx = 0; // Not used for SPI-Slave: always NSS pin
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bluegiga_spi.select = SPISelectUnselect;
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bluegiga_spi.cpol = SPICpolIdleHigh;
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bluegiga_spi.cpha = SPICphaEdge2;
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@@ -191,7 +190,9 @@ void bluegiga_receive(void)
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bluegiga_p.tx_insert_idx = 0;
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bluegiga_p.tx_extract_idx = 0;
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LED_OFF(3);
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#ifdef MODEM_LED
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LED_OFF(MODEM_LED);
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#endif
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coms_status = BLUEGIGA_UNINIT;
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gpio_set(BLUEGIGA_DRDY_GPIO, BLUEGIGA_DRDY_GPIO_PIN); // Reset interrupt pin
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break;
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@@ -28,7 +28,6 @@
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#define BLUEGIGA_DATA_LINK_H
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#include "mcu_periph/link_device.h"
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#include "generated/airframe.h"
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/* The different statuses the communication can be in */
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enum BlueGigaStatus {
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@@ -91,7 +90,9 @@ static inline void bluegiga_read_buffer(struct pprz_transport *t)
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// reached end of circular read buffer or message received
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// if received, decode and advance
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if (t->trans_rx.msg_received) {
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LED_TOGGLE(3);
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#ifdef MODEM_LED
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LED_TOGGLE(MODEM_LED);
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#endif
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pprz_parse_payload(t);
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t->trans_rx.msg_received = FALSE;
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}
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@@ -99,7 +100,7 @@ static inline void bluegiga_read_buffer(struct pprz_transport *t)
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} while (BlueGigaChAvailable()); // continue till all messages read
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}
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// transmit previous date in buffer and parse data received
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// transmit previous data in buffer and parse data received
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#define BlueGigaCheckAndParse(_dev,_trans) { \
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if (BlueGigaChAvailable()) \
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bluegiga_read_buffer( &(_trans) ); \
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@@ -106,7 +106,7 @@ static inline void DlCheckAndParse(void)
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#elif defined DATALINK && DATALINK == BLUEGIGA
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#define DatalinkEvent() { \
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BlueGigaCheckAndParse(BLUEGIGA, pprz_tp); \
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BlueGigaCheckAndParse(BLUEGIGA_SPI_DEV, pprz_tp); \
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DlCheckAndParse(); \
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}
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@@ -46,7 +46,9 @@
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#include "subsystems/datalink/pprzlog_transport.h"
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#include "subsystems/datalink/xbee.h"
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#include "subsystems/datalink/w5100.h"
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#if DATALINK == BLUEGIGA
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#include "subsystems/datalink/bluegiga.h"
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#endif
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#if USE_SUPERBITRF
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#include "subsystems/datalink/superbitrf.h"
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#endif
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