AP_HAL_ChibiOS: replace HAL_NO_RCIN_THREAD w/HAL_RCIN_THREAD_ENABLED

libraries/AP_HAL_ChibiOS/Scheduler.cpp

@@ -59,6 +59,10 @@ extern AP_IOMCU iomcu;
 
 using namespace ChibiOS;
 
+#ifndef HAL_RCIN_THREAD_ENABLED
+#define HAL_RCIN_THREAD_ENABLED 1
+#endif
+
 extern const AP_HAL::HAL& hal;
 #ifndef HAL_NO_TIMER_THREAD
 THD_WORKING_AREA(_timer_thread_wa, TIMER_THD_WA_SIZE);
@@ -66,7 +70,7 @@ THD_WORKING_AREA(_timer_thread_wa, TIMER_THD_WA_SIZE);
 #ifndef HAL_NO_RCOUT_THREAD
 THD_WORKING_AREA(_rcout_thread_wa, RCOUT_THD_WA_SIZE);
 #endif
-#ifndef HAL_NO_RCIN_THREAD
+#if HAL_RCIN_THREAD_ENABLED
 THD_WORKING_AREA(_rcin_thread_wa, RCIN_THD_WA_SIZE);
 #endif
 #ifndef HAL_USE_EMPTY_IO
@@ -122,7 +126,7 @@ void Scheduler::init()
                      this);                     /* Thread parameter.    */
 #endif
 
-#ifndef HAL_NO_RCIN_THREAD
+#if HAL_RCIN_THREAD_ENABLED
     // setup the RCIN thread - this will call tasks at 1kHz
     _rcin_thread_ctx = chThdCreateStatic(_rcin_thread_wa,
                      sizeof(_rcin_thread_wa),

libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef-bl.dat

@@ -51,7 +51,6 @@ define HAL_USE_EMPTY_IO TRUE
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef-bl.dat

@@ -51,7 +51,6 @@ define HAL_USE_EMPTY_IO TRUE
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat

@@ -94,7 +94,6 @@ define HAL_USE_ADC FALSE
 
 # disable unnecessary threads
 define HAL_NO_MONITOR_THREAD
-define HAL_NO_RCIN_THREAD
 define HAL_NO_TIMER_THREAD
 
 # enable LED

libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef-bl.dat

@@ -55,7 +55,6 @@ define HAL_USE_EMPTY_IO TRUE
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat

@@ -80,9 +80,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef-bl.dat

@@ -57,7 +57,6 @@ define HAL_USE_EMPTY_IO TRUE
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat

@@ -72,7 +72,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 define HAL_NO_GPIO_IRQ
 
 # avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat

@@ -55,10 +55,8 @@ define STM32_SERIAL_USE_USART3 FALSE
 define HAL_NO_GPIO_IRQ
 define HAL_USE_EMPTY_IO TRUE
 
-# avoid timer and RCIN threads to save memory
+# avoid timer thread to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
-
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat

@@ -110,9 +110,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat

@@ -41,8 +41,6 @@ define HAL_DISABLE_LOOP_DELAY
 
 define HAL_USE_RTC FALSE
 
-define HAL_NO_RCIN_THREAD
-
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 define HAL_PERIPH_ENABLE_BATTERY

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat

@@ -40,8 +40,6 @@ define HAL_USE_RTC FALSE
 
 define HAL_GCS_ENABLED 1
 
-define HAL_NO_RCIN_THREAD
-
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat

@@ -37,8 +37,6 @@ define HAL_DISABLE_LOOP_DELAY
 
 define HAL_USE_RTC FALSE
 
-define HAL_NO_RCIN_THREAD
-
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 

libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat

@@ -75,7 +75,6 @@ define HAL_PERIPH_ENABLE_NETWORKING
 # ---------------------------------------------------------------------------------------------
 # AP_Periph - boiler-plate configurations that all HW AP-Periph need
 # ---------------------------------------------------------------------------------------------
-define HAL_NO_RCIN_THREAD
 #define HAL_NO_GPIO_IRQ
 define HAL_DISABLE_LOOP_DELAY
 

libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat

@@ -28,8 +28,6 @@ define HAL_DISABLE_LOOP_DELAY
 
 define HAL_USE_RTC FALSE
 
-define HAL_NO_RCIN_THREAD
-
 # use amber LED
 define HAL_GPIO_PIN_LED HAL_GPIO_PIN_FMU_LED_AMBER
 

libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef-bl.dat

@@ -53,7 +53,6 @@ define HAL_USE_EMPTY_IO TRUE
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat

@@ -104,9 +104,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define DMA_RESERVE_SIZE 0
 
 define HAL_DISABLE_LOOP_DELAY

libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL/hwdef.dat

@@ -61,8 +61,6 @@ define HAL_USE_ADC FALSE
 define STM32_ADC_USE_ADC1 FALSE
 define HAL_DISABLE_ADC_DRIVER TRUE
 
-# avoid timer and RCIN threads to save memory
-define HAL_NO_RCIN_THREAD
 define HAL_NO_GPIO_IRQ
 
 PB13 VBUS INPUT OPENDRAIN

libraries/AP_HAL_ChibiOS/hwdef/H757I_EVAL_intf/hwdef.dat

@@ -61,8 +61,6 @@ define HAL_USE_ADC FALSE
 define STM32_ADC_USE_ADC1 FALSE
 define HAL_DISABLE_ADC_DRIVER TRUE
 
-# avoid timer and RCIN threads to save memory
-define HAL_NO_RCIN_THREAD
 define HAL_NO_GPIO_IRQ
 
 PB13 VBUS INPUT OPENDRAIN

libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat

@@ -103,7 +103,6 @@ define IO_THD_WA_SIZE      512
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 128
 
-define HAL_NO_RCIN_THREAD
 define HAL_NO_RCOUT_THREAD
 
 

libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef-bl.dat

@@ -56,8 +56,6 @@ define PORT_INT_REQUIRED_STACK 64
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
-
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat

@@ -74,9 +74,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 define HAL_NO_GPIO_IRQ
 define SERIAL_BUFFERS_SIZE 512
 
-# avoid timer and RCIN threads to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef-bl.dat

@@ -54,9 +54,8 @@ define STM32_SERIAL_USE_USART3 FALSE
 define HAL_NO_GPIO_IRQ
 define HAL_USE_EMPTY_IO TRUE
 
-# avoid timer and RCIN threads to save memory
+# avoid timer threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat

@@ -72,9 +72,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef-bl.dat

@@ -54,9 +54,8 @@ define STM32_SERIAL_USE_USART3 FALSE
 define HAL_NO_GPIO_IRQ
 define HAL_USE_EMPTY_IO TRUE
 
-# avoid timer and RCIN threads to save memory
+# avoid timer threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat

@@ -95,9 +95,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef-bl.dat

@@ -55,8 +55,6 @@ define HAL_USE_EMPTY_IO TRUE
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
-
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat

@@ -112,9 +112,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat

@@ -43,8 +43,6 @@ define HAL_PERIPH_ADSB_BAUD_DEFAULT 0
 define HAL_NO_MONITOR_THREAD
 define HAL_DISABLE_LOOP_DELAY
 define HAL_USE_RTC FALSE
-define HAL_NO_RCIN_THREAD
-
 
 define AP_SCRIPTING_ENABLED 0
 

libraries/AP_HAL_ChibiOS/hwdef/MatekL431-BattMon/hwdef.dat

@@ -14,7 +14,6 @@ define HAL_USE_ADC FALSE
 
 # disable unnecessary threads
 define HAL_NO_MONITOR_THREAD
-define HAL_NO_RCIN_THREAD
 define HAL_NO_RCOUT_THREAD
 define HAL_NO_TIMER_THREAD
 

libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat

@@ -38,7 +38,6 @@ define HAL_USE_ADC FALSE
 
 # disable unnecessary threads
 define HAL_NO_MONITOR_THREAD
-define HAL_NO_RCIN_THREAD
 define HAL_NO_RCOUT_THREAD
 define HAL_NO_TIMER_THREAD
 

libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat

@@ -29,8 +29,6 @@ define HAL_DISABLE_LOOP_DELAY
 
 define HAL_USE_RTC FALSE
 
-define HAL_NO_RCIN_THREAD
-
 # use blue LED
 define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED_BLUE
 

libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat

@@ -41,8 +41,6 @@ define HAL_DISABLE_LOOP_DELAY
 
 define HAL_USE_RTC FALSE
 
-define HAL_NO_RCIN_THREAD
-
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
 define HAL_USE_ADC TRUE

libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat

@@ -30,9 +30,6 @@ STDOUT_BAUDRATE 57600
 
 define HAL_NO_GPIO_IRQ
 
-# avoid timer and RCIN threads to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat

@@ -85,7 +85,6 @@ PA0 VSENSE ADC1 SCALE(2)
 define HAL_NO_GPIO_IRQ
 
 # avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
 define HAL_USE_RTC FALSE
 define DMA_RESERVE_SIZE 0
 define PERIPH_FW TRUE

libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat

@@ -96,7 +96,6 @@ PA0 VSENSE ADC1 SCALE(2)
 define HAL_NO_GPIO_IRQ
 
 # avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
 define HAL_USE_RTC TRUE
 define DMA_RESERVE_SIZE 0
 define HAL_DISABLE_LOOP_DELAY

libraries/AP_HAL_ChibiOS/hwdef/Sierra-PrecisionPoint/hwdef-bl.dat

@@ -62,7 +62,6 @@ define HAL_DISABLE_LOOP_DELAY
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 # enable CAN support
 PB8 CAN1_RX CAN1

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat

@@ -41,7 +41,6 @@ define HAL_GCS_ENABLED 0
 define HAL_NO_MONITOR_THREAD
 define HAL_NO_LOGGING
 define HAL_USE_ADC FALSE
-define HAL_NO_RCIN_THREAD
 
 # we setup a small defaults.parm
 define AP_PARAM_MAX_EMBEDDED_PARAM 256

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat

@@ -33,7 +33,6 @@ PA14 JTCK-SWCLK SWD
 define HAL_NO_GPIO_IRQ
 define HAL_USE_EMPTY_IO TRUE
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 define DMA_RESERVE_SIZE 0
 define HAL_DISABLE_LOOP_DELAY
 define HAL_USE_SERIAL FALSE

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat

@@ -66,9 +66,6 @@ define STM32_ADC_USE_ADC1 FALSE
 define HAL_DISABLE_ADC_DRIVER TRUE
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 define DMA_RESERVE_SIZE 0
 define HAL_DISABLE_LOOP_DELAY

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat

@@ -39,7 +39,6 @@ PROCESS_STACK 0xA00
 define HAL_DISABLE_LOOP_DELAY
 define HAL_NO_MONITOR_THREAD
 define HAL_USE_ADC FALSE
-define HAL_NO_RCIN_THREAD
 
 # we setup a small defaults.parm
 define AP_PARAM_MAX_EMBEDDED_PARAM 256

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat

@@ -39,7 +39,6 @@ PROCESS_STACK 0xA00
 define HAL_DISABLE_LOOP_DELAY
 define HAL_NO_MONITOR_THREAD
 define HAL_USE_ADC FALSE
-define HAL_NO_RCIN_THREAD
 
 # we setup a small defaults.parm
 define AP_PARAM_MAX_EMBEDDED_PARAM 256

libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef.dat

@@ -39,7 +39,6 @@ PROCESS_STACK 0xA00
 define HAL_DISABLE_LOOP_DELAY
 define HAL_NO_MONITOR_THREAD
 define HAL_USE_ADC FALSE
-define HAL_NO_RCIN_THREAD
 
 # we setup a small defaults.parm
 define AP_PARAM_MAX_EMBEDDED_PARAM 256

libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat

@@ -71,7 +71,6 @@ define PORT_INT_REQUIRED_STACK 64
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 #defined to turn off undef warnings
 define __FPU_PRESENT 0

libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat

@@ -94,9 +94,6 @@ define CH_CFG_ST_TIMEDELTA 0
 define SERIAL_BUFFERS_SIZE 512
 define PORT_INT_REQUIRED_STACK 64
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 #defined to turn off undef warnings
 define __FPU_PRESENT 0
 

libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc

@@ -64,7 +64,6 @@ define PORT_INT_REQUIRED_STACK 64
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
 define HAL_NO_RCOUT_THREAD
-define HAL_NO_RCIN_THREAD
 
 #defined to turn off undef warnings
 define __FPU_PRESENT 0

libraries/AP_HAL_ChibiOS/hwdef/f303-MatekGPS/hwdef.dat

@@ -45,9 +45,6 @@ define HAL_NO_GPIO_IRQ
 define SERIAL_BUFFERS_SIZE 512
 define PORT_INT_REQUIRED_STACK 64
 
-# avoid timer and RCIN threads to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.inc

@@ -65,8 +65,6 @@ define HAL_NO_GPIO_IRQ
 define SERIAL_BUFFERS_SIZE 512
 define PORT_INT_REQUIRED_STACK 64
 
-# avoid timer and RCIN threads to save memory
-define HAL_NO_RCIN_THREAD
 define HAL_NO_RCOUT_THREAD
 
 define HAL_USE_RTC FALSE

libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat

@@ -39,9 +39,6 @@ define PORT_INT_REQUIRED_STACK 64
 #PA13 JTMS-SWDIO SWD
 #PA14 JTCK-SWCLK SWD
 
-# avoid timer and RCIN threads to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.inc

@@ -106,9 +106,8 @@ define SERIAL_BUFFERS_SIZE 32
 define HAL_USE_EMPTY_IO TRUE
 define PORT_INT_REQUIRED_STACK 64
 
-# avoid timer and RCIN threads to save memory
+# avoid timer threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 define HAL_NO_MONITOR_THREAD
 define HAL_NO_RCOUT_THREAD  # also disables LED thread
 

libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat

@@ -131,7 +131,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 # ---------------------------------------------------------------------------------------------
 # AP_Periph - boiler-plate configurations that all HW AP-Periph need
 # ---------------------------------------------------------------------------------------------
-define HAL_NO_RCIN_THREAD
 #define HAL_NO_GPIO_IRQ
 define HAL_DISABLE_LOOP_DELAY
 define HAL_PERIPH_SHOW_SERIAL_MANAGER_PARAMS

libraries/AP_HAL_ChibiOS/hwdef/mRoCANPWM-M10126/hwdef-bl.dat

@@ -64,7 +64,6 @@ define STM32_SERIAL_USE_USART3 FALSE
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/mRoCANPWM-M10126/hwdef.dat

@@ -53,9 +53,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 #define DMA_RESERVE_SIZE 2048

libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef-bl.dat

@@ -58,7 +58,6 @@ define HAL_USE_EMPTY_IO TRUE
 
 # avoid timer and RCIN threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_RCIN_THREAD
 
 define DMA_RESERVE_SIZE 0
 

libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat

@@ -91,9 +91,6 @@ define HAL_DISABLE_ADC_DRIVER TRUE
 
 define HAL_NO_GPIO_IRQ
 
-# avoid RCIN thread to save memory
-define HAL_NO_RCIN_THREAD
-
 define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -1220,7 +1220,9 @@ class ChibiOSHWDef(object):
 // avoid timer and RCIN threads to save memory
 #define HAL_NO_TIMER_THREAD
 #define HAL_NO_RCOUT_THREAD
-#define HAL_NO_RCIN_THREAD
+#ifndef HAL_RCIN_THREAD_ENABLED
+#define HAL_RCIN_THREAD_ENABLED 0
+#endif
 #ifndef AP_HAL_SHARED_DMA_ENABLED
 #define AP_HAL_SHARED_DMA_ENABLED 0
 #endif

libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h

@@ -321,6 +321,10 @@
 #define HAL_SERIAL_ESC_COMM_ENABLED 0
 #endif
 
+#ifndef HAL_RCIN_THREAD_ENABLED
+#define HAL_RCIN_THREAD_ENABLED 0
+#endif
+
 #ifndef HAL_WITH_ESC_TELEM
 #define HAL_WITH_ESC_TELEM 0
 #endif