From 115655b1101e485fb248a9d9b99da3d566b36ac8 Mon Sep 17 00:00:00 2001 From: Mukesh Shinghala Date: Thu, 9 Apr 2026 08:35:50 +0530 Subject: [PATCH] Fix Teensy 4.x compilation error by updating HardwareSerial to HardwareSerialIMXRT (Teensyduino 1.59+) --- .../AIO_v4_Firmware/AIO_v4_Firmware.ino | 12 +++++++++--- ..._v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025.ino | 13 ++++++++++--- 2 files changed, 19 insertions(+), 6 deletions(-) diff --git a/TeensyModules/AIO v4 Firmware/AIO_v4_Firmware/AIO_v4_Firmware.ino b/TeensyModules/AIO v4 Firmware/AIO_v4_Firmware/AIO_v4_Firmware.ino index 3f068ce..1a49c90 100644 --- a/TeensyModules/AIO v4 Firmware/AIO_v4_Firmware/AIO_v4_Firmware.ino +++ b/TeensyModules/AIO v4 Firmware/AIO_v4_Firmware/AIO_v4_Firmware.ino @@ -28,9 +28,15 @@ // Serial Ports #define SerialAOG Serial //AgIO USB conection #define SerialRTK Serial3 //RTK radio -HardwareSerial* SerialGPS = &Serial7; //Main postion receiver (GGA) -HardwareSerial* SerialGPS2 = &Serial2; //Dual heading receiver -HardwareSerial* SerialIMU = &Serial5; //IMU BNO-085 +#if defined(__IMXRT1062__) + HardwareSerialIMXRT* SerialGPS = &Serial7; //Main postion receiver (GGA) + HardwareSerialIMXRT* SerialGPS2 = &Serial2; //Dual heading receiver + HardwareSerialIMXRT* SerialIMU = &Serial5; //IMU +#else + HardwareSerial* SerialGPS = &Serial7; + HardwareSerial* SerialGPS2 = &Serial2; + HardwareSerial* SerialIMU = &Serial5; +#endif constexpr int serial_buffer_size = 512; diff --git a/TeensyModules/AIO v4 Firmware/AIO_v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025/AIO_v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025.ino b/TeensyModules/AIO v4 Firmware/AIO_v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025/AIO_v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025.ino index 1ea2d60..893d7c9 100644 --- a/TeensyModules/AIO v4 Firmware/AIO_v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025/AIO_v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025.ino +++ b/TeensyModules/AIO v4 Firmware/AIO_v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025/AIO_v4_Firmware_Keya_CANBUS_HPR_Dual_27.04.2025.ino @@ -2,9 +2,16 @@ // Serial Ports #define SerialAOG Serial //AgIO USB conection #define SerialRTK Serial3 //RTK radio -HardwareSerial* SerialGPS = &Serial7; //Main postion receiver (GGA) -HardwareSerial* SerialGPS2 = &Serial2; //Dual heading receiver -HardwareSerial* SerialIMU = &Serial5; //IMU + +#if defined(__IMXRT1062__) + HardwareSerialIMXRT* SerialGPS = &Serial7; //Main postion receiver (GGA) + HardwareSerialIMXRT* SerialGPS2 = &Serial2; //Dual heading receiver + HardwareSerialIMXRT* SerialIMU = &Serial5; //IMU +#else + HardwareSerial* SerialGPS = &Serial7; + HardwareSerial* SerialGPS2 = &Serial2; + HardwareSerial* SerialIMU = &Serial5; +#endif constexpr int serial_buffer_size = 1023;