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Add Relay Cape Compatibility Layer for v5.10

This pull request adds a relay cape compability for v5.10.

I have tested on the BBAI and BBB on v5.10.

You can see the usage from https://git.beagleboard.org/docs/docs.beagleboard.io/-/merge_requests/18

Edited by Kai Yamada (gpioblink)

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