mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-24 15:27:41 +08:00
225c1b70ef
The per-channel send mutex is genuinely recursive: callers hold lock_send() while the MAVLink C library re-enters send_start()/send_finish() on the same mutex via MAVLINK_START_UART_SEND. On NuttX a recursive mutex only works with CONFIG_PTHREAD_MUTEX_TYPES; without it pthread_mutexattr_settype() is a no-op and the nested lock deadlocks. Only a handful of boards happened to enable the option (for Zenoh), so mavlink could deadlock at startup on most boards, e.g. when bringing up a USB link. Enable CONFIG_PTHREAD_MUTEX_TYPES on the NuttX boards that build mavlink, add a compile-time guard so a board missing the option fails the build loudly instead of deadlocking silently, and check the settype() return. Enabling the option is free in flash and RAM on these boards since they already enable CONFIG_PRIORITY_INHERITANCE / CONFIG_PTHREAD_MUTEX_ROBUST. Signed-off-by: Julian Oes <julian@oes.ch>
268 lines
7.4 KiB
Plaintext
268 lines
7.4 KiB
Plaintext
#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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# CONFIG_DISABLE_ENVIRON is not set
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# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
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# CONFIG_DISABLE_PTHREAD is not set
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# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
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# CONFIG_MMCSD_HAVE_CARDDETECT is not set
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# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
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# CONFIG_MMCSD_MMCSUPPORT is not set
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# CONFIG_MMCSD_SPI is not set
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# CONFIG_NSH_DISABLEBG is not set
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# CONFIG_NSH_DISABLESCRIPT is not set
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# CONFIG_NSH_DISABLE_CAT is not set
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# CONFIG_NSH_DISABLE_CD is not set
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# CONFIG_NSH_DISABLE_CP is not set
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# CONFIG_NSH_DISABLE_DATE is not set
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# CONFIG_NSH_DISABLE_DF is not set
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# CONFIG_NSH_DISABLE_ECHO is not set
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# CONFIG_NSH_DISABLE_ENV is not set
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# CONFIG_NSH_DISABLE_EXEC is not set
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# CONFIG_NSH_DISABLE_EXIT is not set
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# CONFIG_NSH_DISABLE_EXPORT is not set
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# CONFIG_NSH_DISABLE_FREE is not set
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# CONFIG_NSH_DISABLE_GET is not set
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# CONFIG_NSH_DISABLE_HELP is not set
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# CONFIG_NSH_DISABLE_ITEF is not set
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# CONFIG_NSH_DISABLE_KILL is not set
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# CONFIG_NSH_DISABLE_LOOPS is not set
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# CONFIG_NSH_DISABLE_LS is not set
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# CONFIG_NSH_DISABLE_MKDIR is not set
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# CONFIG_NSH_DISABLE_MKFATFS is not set
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# CONFIG_NSH_DISABLE_MOUNT is not set
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# CONFIG_NSH_DISABLE_MV is not set
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# CONFIG_NSH_DISABLE_PS is not set
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# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
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# CONFIG_NSH_DISABLE_PWD is not set
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# CONFIG_NSH_DISABLE_RM is not set
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# CONFIG_NSH_DISABLE_RMDIR is not set
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# CONFIG_NSH_DISABLE_SEMICOLON is not set
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# CONFIG_NSH_DISABLE_SET is not set
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# CONFIG_NSH_DISABLE_SLEEP is not set
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# CONFIG_NSH_DISABLE_SOURCE is not set
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# CONFIG_NSH_DISABLE_TEST is not set
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# CONFIG_NSH_DISABLE_TIME is not set
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# CONFIG_NSH_DISABLE_UMOUNT is not set
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# CONFIG_NSH_DISABLE_UNSET is not set
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# CONFIG_NSH_DISABLE_USLEEP is not set
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD_CUSTOM=y
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5/nuttx-config"
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
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CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
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CONFIG_ARCH_CHIP="stm32f7"
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CONFIG_ARCH_CHIP_STM32F765II=y
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CONFIG_ARCH_CHIP_STM32F7=y
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CONFIG_ARCH_INTERRUPTSTACK=768
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CONFIG_ARCH_STACKDUMP=y
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CONFIG_ARMV7M_BASEPRI_WAR=y
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CONFIG_ARMV7M_DCACHE=y
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CONFIG_ARMV7M_DTCM=y
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CONFIG_ARMV7M_ICACHE=y
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CONFIG_ARMV7M_MEMCPY=y
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CONFIG_ARMV7M_STACKCHECK=y
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CONFIG_ARMV7M_USEBASEPRI=y
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CONFIG_ARM_MPU_EARLY_RESET=y
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CONFIG_BOARDCTL_RESET=y
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CONFIG_BOARD_ASSERT_RESET_VALUE=0
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CONFIG_BOARD_CRASHDUMP=y
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CONFIG_BOARD_LOOPSPERMSEC=22114
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CONFIG_BOARD_RESET_ON_ASSERT=2
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CONFIG_BUILTIN=y
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CONFIG_CDCACM=y
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CONFIG_CDCACM_IFLOWCONTROL=y
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CONFIG_CDCACM_PRODUCTID=0x0032
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CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
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CONFIG_CDCACM_RXBUFSIZE=600
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CONFIG_CDCACM_TXBUFSIZE=12000
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CONFIG_CDCACM_VENDORID=0x26ac
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CONFIG_CDCACM_VENDORSTR="3D Robotics"
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_HARDFAULT_ALERT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEBUG_TCBINFO=y
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CONFIG_DEFAULT_SMALL=y
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CONFIG_DEV_FIFO_SIZE=0
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CONFIG_DEV_PIPE_MAXSIZE=1024
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CONFIG_DEV_PIPE_SIZE=70
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CONFIG_FAT_DMAMEMORY=y
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CONFIG_FAT_LCNAMES=y
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CONFIG_FAT_LFN=y
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CONFIG_FAT_LFN_ALIAS_HASH=y
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CONFIG_FDCLONE_STDIO=y
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CONFIG_FS_BINFS=y
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CONFIG_FS_CROMFS=y
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CONFIG_FS_FAT=y
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CONFIG_FS_FATTIME=y
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CONFIG_FS_PROCFS=y
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CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
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CONFIG_FS_PROCFS_MAX_TASKS=64
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CONFIG_FS_PROCFS_REGISTER=y
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CONFIG_FS_ROMFS=y
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CONFIG_GRAN=y
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CONFIG_GRAN_INTR=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_I2C=y
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CONFIG_I2C_RESET=y
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CONFIG_IDLETHREAD_STACKSIZE=878
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CONFIG_INIT_ENTRYPOINT="nsh_main"
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CONFIG_INIT_STACKSIZE=3194
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CONFIG_LIBC_FLOATINGPOINT=y
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CONFIG_LIBC_LONG_LONG=y
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CONFIG_LIBC_MAX_EXITFUNS=1
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CONFIG_MEMSET_64BIT=y
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CONFIG_MEMSET_OPTSPEED=y
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CONFIG_MMCSD=y
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CONFIG_MMCSD_SDIO=y
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CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
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CONFIG_MM_REGIONS=3
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CONFIG_MTD=y
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CONFIG_MTD_BYTE_WRITE=y
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CONFIG_MTD_PARTITION=y
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CONFIG_MTD_RAMTRON=y
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CONFIG_NAME_MAX=40
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_ARGCAT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_NSH_CMDPARMS=y
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CONFIG_NSH_CROMFSETC=y
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CONFIG_NSH_LINELEN=128
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CONFIG_NSH_MAXARGUMENTS=15
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CONFIG_NSH_NESTDEPTH=8
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CONFIG_NSH_QUOTE=y
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CONFIG_NSH_ROMFSETC=y
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CONFIG_NSH_ROMFSSECTSIZE=128
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CONFIG_NSH_VARS=y
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CONFIG_OTG_ID_GPIO_DISABLE=y
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CONFIG_PIPES=y
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CONFIG_PREALLOC_TIMERS=50
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CONFIG_PRIORITY_INHERITANCE=y
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CONFIG_PTHREAD_MUTEX_ROBUST=y
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CONFIG_PTHREAD_MUTEX_TYPES=y
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CONFIG_PTHREAD_STACK_MIN=512
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CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
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CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
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CONFIG_RAMTRON_SETSPEED=y
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CONFIG_RAM_SIZE=245760
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CONFIG_RAM_START=0x20010000
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CONFIG_RAW_BINARY=y
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CONFIG_READLINE_CMD_HISTORY=y
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CONFIG_READLINE_TABCOMPLETION=y
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CONFIG_RTC_DATETIME=y
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CONFIG_SCHED_HPWORK=y
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CONFIG_SCHED_HPWORKPRIORITY=249
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CONFIG_SCHED_HPWORKSTACKSIZE=1280
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CONFIG_SCHED_INSTRUMENTATION=y
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CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
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CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
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CONFIG_SCHED_LPWORK=y
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CONFIG_SCHED_LPWORKPRIORITY=50
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CONFIG_SCHED_LPWORKSTACKSIZE=1632
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CONFIG_SCHED_WAITPID=y
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CONFIG_SDMMC1_SDIO_MODE=y
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CONFIG_SDMMC1_SDIO_PULLUP=y
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CONFIG_SEM_PREALLOCHOLDERS=32
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CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
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CONFIG_SERIAL_TERMIOS=y
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CONFIG_SIG_DEFAULT=y
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CONFIG_SIG_SIGALRM_ACTION=y
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CONFIG_SIG_SIGUSR1_ACTION=y
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CONFIG_SIG_SIGUSR2_ACTION=y
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CONFIG_SIG_SIGWORK=4
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CONFIG_STACK_COLORATION=y
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CONFIG_START_DAY=30
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CONFIG_START_MONTH=11
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CONFIG_STDIO_BUFFER_SIZE=256
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CONFIG_STM32F7_ADC1=y
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CONFIG_STM32F7_BBSRAM=y
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CONFIG_STM32F7_BBSRAM_FILES=5
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CONFIG_STM32F7_BKPSRAM=y
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CONFIG_STM32F7_DMA1=y
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CONFIG_STM32F7_DMA2=y
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CONFIG_STM32F7_DMACAPABLE=y
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CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
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CONFIG_STM32F7_I2C1=y
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CONFIG_STM32F7_I2C2=y
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CONFIG_STM32F7_I2C3=y
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CONFIG_STM32F7_I2C4=y
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CONFIG_STM32F7_I2C_DYNTIMEO=y
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CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
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CONFIG_STM32F7_OTGFS=y
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CONFIG_STM32F7_PROGMEM=y
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CONFIG_STM32F7_PWR=y
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CONFIG_STM32F7_RTC=y
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CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
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CONFIG_STM32F7_RTC_MAGIC_REG=1
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CONFIG_STM32F7_SAVE_CRASHDUMP=y
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CONFIG_STM32F7_SDMMC1=y
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CONFIG_STM32F7_SDMMC_DMA=y
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CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
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CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
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CONFIG_STM32F7_SPI1=y
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CONFIG_STM32F7_SPI1_DMA=y
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CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
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CONFIG_STM32F7_SPI2=y
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CONFIG_STM32F7_SPI4=y
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CONFIG_STM32F7_SPI5=y
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CONFIG_STM32F7_SPI6=y
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CONFIG_STM32F7_SPI_DMATHRESHOLD=8
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CONFIG_STM32F7_TIM10=y
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CONFIG_STM32F7_TIM11=y
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CONFIG_STM32F7_UART4=y
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CONFIG_STM32F7_UART7=y
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CONFIG_STM32F7_UART8=y
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CONFIG_STM32F7_USART1=y
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CONFIG_STM32F7_USART2=y
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CONFIG_STM32F7_USART3=y
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CONFIG_STM32F7_USART6=y
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CONFIG_STM32F7_USART_BREAKS=y
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CONFIG_STM32F7_USART_INVERT=y
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CONFIG_STM32F7_USART_SINGLEWIRE=y
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CONFIG_STM32F7_USART_SWAP=y
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CONFIG_STM32F7_WWDG=y
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CONFIG_SYSTEM_CDCACM=y
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CONFIG_SYSTEM_NSH=y
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CONFIG_TASK_NAME_SIZE=24
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CONFIG_UART4_BAUD=57600
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CONFIG_UART4_RXBUFSIZE=600
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CONFIG_UART4_RXDMA=y
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CONFIG_UART4_TXBUFSIZE=1500
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CONFIG_UART7_BAUD=57600
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CONFIG_UART7_RXBUFSIZE=600
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CONFIG_UART7_SERIAL_CONSOLE=y
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CONFIG_UART7_TXBUFSIZE=1500
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CONFIG_UART8_BAUD=57600
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CONFIG_UART8_RXBUFSIZE=600
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CONFIG_UART8_RXDMA=y
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CONFIG_UART8_TXBUFSIZE=1500
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CONFIG_USART1_BAUD=57600
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CONFIG_USART1_RXBUFSIZE=600
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CONFIG_USART1_TXBUFSIZE=1500
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CONFIG_USART2_BAUD=57600
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CONFIG_USART2_IFLOWCONTROL=y
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CONFIG_USART2_OFLOWCONTROL=y
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CONFIG_USART2_RXBUFSIZE=600
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CONFIG_USART2_RXDMA=y
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CONFIG_USART2_TXBUFSIZE=1500
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CONFIG_USART3_BAUD=57600
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CONFIG_USART3_IFLOWCONTROL=y
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CONFIG_USART3_OFLOWCONTROL=y
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CONFIG_USART3_RXBUFSIZE=600
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CONFIG_USART3_RXDMA=y
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CONFIG_USART3_TXBUFSIZE=3000
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CONFIG_USART3_TXDMA=y
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CONFIG_USART6_BAUD=57600
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CONFIG_USART6_RXBUFSIZE=600
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CONFIG_USART6_RXDMA=y
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CONFIG_USART6_TXBUFSIZE=1500
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CONFIG_USBDEV=y
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CONFIG_USBDEV_BUSPOWERED=y
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CONFIG_USBDEV_MAXPOWER=500
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CONFIG_USEC_PER_TICK=1000
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