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Use static names for USB devices for Raspberry Pi 3. (ttyUSBUpperLeft, ttyUSBLowerLeft, ttyUSBUpperRight, ttyUSBLowerLeft)
cat > "/etc/udev/rules.d/99-human_readable_usb.rules" << EOF_USB_RULES
SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-3f980000.usb-usb-0:1.2:1.0", SYMLINK+="ttyUSBUpperLeft"
SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-3f980000.usb-usb-0:1.3:1.0", SYMLINK+="ttyUSBLowerLeft"
SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-3f980000.usb-usb-0:1.4:1.0", SYMLINK+="ttyUSBUpperRight"
SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-3f980000.usb-usb-0:1.5:1.0", SYMLINK+="ttyUSBLowerLeft"
EOF_USB_RULES
udevadm control --reload-rules
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