AP_HAL_Linux: add second RCIN port for Blue

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -136,9 +136,10 @@ static Empty::GPIO gpioDriver;
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
 static RCInput_PRU rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
 static RCInput_AioPRU rcinDriver;
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_115200("/dev/ttyO4")};
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \

libraries/AP_HAL_Linux/RCInput_115200.cpp

@@ -22,7 +22,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 #include "RCInput_115200.h"
 #include <stdio.h>
 #include <fcntl.h>

libraries/AP_HAL_Linux/RCInput_115200.h

@@ -16,7 +16,8 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 
 #include "RCInput.h"
 

libraries/AP_HAL_Linux/RCInput_Multi.cpp

@@ -18,7 +18,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 #include "RCInput_Multi.h"
 
 extern const AP_HAL::HAL& hal;

libraries/AP_HAL_Linux/RCInput_Multi.h

@@ -16,7 +16,8 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 
 #include "RCInput.h"
 #include <stdarg.h>