AP_HAL_ChibiOS: add HereID board

libraries/AP_HAL_ChibiOS/hwdef/HereCommon/hwdef-bl.inc

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+# hw definition file for processing by chibios_hwdef.py
+# for H757
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+define CORE_CM7
+define SMPS_PWR
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+FLASH_SIZE_KB 2048
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 256
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+PB14 USART1_TX  USART1
+PB15 USART1_RX  USART1
+
+PA0 USART2_CTS USART2
+PA1 USART2_RTS USART2
+PA2 USART2_TX  USART2
+PA3 USART2_RX  USART2
+
+PD9 USART3_RX USART3 
+PD8 USART3_TX USART3
+
+SERIAL_ORDER OTG1 USART1 USART2 USART3
+
+PA4 MCU_DCD OUTPUT LOW
+PA5 MCU_DTR OUTPUT LOW
+PA6 MCU_POW_ON OUTPUT HIGH
+PA7 MCU_IO_2 OUTPUT LOW
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+define USB_USE_WAIT TRUE
+define HAL_USE_USB_MSD TRUE
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PB3 LED_BOOTLOADER OUTPUT HIGH
+PB4 LED OUTPUT HIGH
+PB13 LED_2 OUTPUT HIGH
+
+define HAL_LED_ON 0
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PC7 SLEEPCAN OUTPUT PUSHPULL SPEED_LOW LOW 
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384

libraries/AP_HAL_ChibiOS/hwdef/HereCommon/hwdef.inc

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+# hw definition file for processing by chibios_hwdef.py
+# for H757
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+define CORE_CM7
+define SMPS_PWR
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+define PERIPH_FW TRUE
+define HAL_BUILD_AP_PERIPH
+
+FLASH_SIZE_KB 2048
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 256
+FLASH_RESERVE_START_KB 256
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+PB14 USART1_TX  USART1
+PB15 USART1_RX  USART1
+
+PA0 USART2_CTS USART2
+PA1 USART2_RTS USART2
+PA2 USART2_TX  USART2
+PA3 USART2_RX  USART2
+
+PD9 USART3_RX USART3 
+PD8 USART3_TX USART3
+
+SERIAL_ORDER OTG1 USART1 USART2 USART3
+
+PA4 MCU_DCD OUTPUT LOW
+PA5 MCU_DTR OUTPUT LOW
+PA6 MCU_POW_ON OUTPUT HIGH
+PA7 MCU_IO_2 OUTPUT LOW
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+define USB_USE_WAIT TRUE
+define HAL_USE_USB_MSD TRUE
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PB3 LED_BOOTLOADER OUTPUT HIGH
+PB4 LED OUTPUT HIGH
+PB13 LED_2 OUTPUT HIGH
+
+define HAL_LED_ON 0
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PC7 SLEEPCAN OUTPUT PUSHPULL SPEED_LOW LOW 
+
+# Now setup the pins for the microSD card, if available.
+#PC8 SDMMC1_D0 SDMMC1
+#PC9 SDMMC1_D1 SDMMC1
+#PC10 SDMMC1_D2 SDMMC1
+#PC11 SDMMC1_D3 SDMMC1
+#PC12 SDMMC1_CK SDMMC1
+#PD2 SDMMC1_CMD SDMMC1
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# analog input
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+define HAL_CAN_DEFAULT_NODE_ID 0
+define HAL_NO_GCS

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

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+include ../HereCommon/hwdef-bl.inc
+
+# board ID for firmware load
+APJ_BOARD_ID 1043
+
+# USB setup
+USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
+USB_PRODUCT 0x5012
+USB_STRING_MANUFACTURER "CubePilot"

libraries/AP_HAL_ChibiOS/hwdef/HereID/hwdef.dat

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+include ../HereCommon/hwdef.inc
+
+# board ID for firmware load
+APJ_BOARD_ID 1043
+
+# USB setup
+USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
+USB_PRODUCT 0x5012
+USB_STRING_MANUFACTURER "CubePilot"
+