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Arduino.h always defines true and false, the trouble occurs when you use C, and include stdbool.h. Arduino.h should simply include stdbool.h instead of defining these for C code, and only define them if using C++.
Details: this seems to happen only for C code, not C++ or a sketch. I have situations where I write a library with mixed C and C++. This causes GCC to emit redefinition warnings.