hwdef: support for Here4 GPS

libraries/AP_HAL_ChibiOS/hwdef/Here4AP/defaults.parm

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+# setup for ProfiLED
+OUT1_FUNCTION 132
+OUT2_FUNCTION 129
+NTF_LED_TYPES 512
+NTF_LED_BRIGHT 2
+NTF_LED_LEN 4
+
+# disable baro by default
+BARO_ENABLE 0

libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for H757 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+define CORE_CM7
+define SMPS_PWR
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1043
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# reserve space for flash storage in last 2 sectors
+FLASH_RESERVE_END_KB 256
+
+# the location where the bootloader will put the firmware
+# the H757 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 256
+
+# enable CAN support
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD2 SLEEPCAN1 OUTPUT PUSHPULL SPEED_LOW LOW 
+PD3 TERMCAN1 OUTPUT LOW
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+PB10 SLEEPCAN2 OUTPUT PUSHPULL SPEED_LOW LOW 
+PB11 TERMCAN2 OUTPUT LOW
+
+# board voltage
+STM32_VDD 330U
+
+PB8 LED_SCK OUTPUT LOW
+PB9 LED_DI OUTPUT HIGH
+
+define HAL_NO_LOGGING TRUE
+define HAL_NO_MONITOR_THREAD
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define AP_PERIPH_HAVE_LED
+
+define CAN_APP_NODE_NAME "com.cubepilot.here4"
+
+# order of UARTs
+SERIAL_ORDER
+define HAL_USE_UART FALSE

libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef.dat

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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
+APJ_BOARD_ID 1043
+
+
+# the location where the bootloader will put the firmware
+# the H757 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 256
+FLASH_RESERVE_START_KB 256
+
+# use last 2 pages for flash storage
+# H757 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+define HAL_STORAGE_SIZE 32768
+
+# reserve space for flash storage in last 2 sectors
+FLASH_RESERVE_END_KB 256
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+CANFD_SUPPORTED 8
+
+STDOUT_SERIAL SD6
+STDOUT_BAUDRATE 57600
+
+PC6 USART6_TX USART6
+
+PB6 USART1_TX  USART1 GPIO(7)
+PB7 USART1_RX  USART1 GPIO(8)
+
+# GPS
+PD5 USART2_TX USART2 GPIO(9)
+PD6 USART2_RX USART2 GPIO(10)
+
+PA11 UART4_RX UART4
+PA12 UART4_TX UART4
+
+define GPIO_USART1_TX 7
+define GPIO_USART1_RX 8
+define GPIO_USART2_TX 9
+define GPIO_USART2_RX 10
+
+# CubeID when present
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+SERIAL_ORDER USART1 UART4 UART8 USART2
+
+define DRONEID_MODULE_CHAN MAVLINK_COMM_2
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_LED_ON 0
+
+# enable CAN support
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD2 SLEEPCAN1 OUTPUT PUSHPULL SPEED_LOW LOW 
+PD3 TERMCAN1 OUTPUT HIGH GPIO(3)
+
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# single CAN for now
+#PB12 CAN2_RX CAN2
+#PB13 CAN2_TX CAN2
+#PB10 SLEEPCAN2 OUTPUT PUSHPULL SPEED_LOW HIGH
+#PB11 TERMCAN2 OUTPUT HIGH GPIO(4)
+
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB2 SPI3_MOSI SPI3
+PB1 MAG_CS CS
+
+# analog input
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+
+define HAL_PERIPH_ENABLE_BARO TRUE
+
+SPIDEV rm3100 SPI3 DEVID1    MAG_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
+define AP_RM3100_REVERSAL_MASK 4
+
+PA8 ICM_CS CS
+PA9 BARO_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+SPIDEV icm42688       SPI1 DEVID4  ICM_CS       MODE3  2*MHZ  8*MHZ
+SPIDEV ms5611         SPI1 DEVID3  BARO_CS      MODE3 20*MHZ 20*MHZ
+
+BARO MS56XX SPI:ms5611
+
+define CAN_APP_NODE_NAME "com.cubepilot.Here4AP"
+
+# WS2812 LED
+PB8 TIM4_CH3 TIM4 PWM(1)
+PB9 TIM4_CH4 TIM4 PWM(2)
+
+
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+define HAL_COMPASS_MAX_SENSORS 1
+
+
+define HAL_PERIPH_ENABLE_GPS 1
+define HAL_PERIPH_ENABLE_MAG 1
+define GPS_MOVING_BASELINE 1
+define HAL_PERIPH_GPS_PORT_DEFAULT 3
+
+#PD11 GPS_TP1 OUTPUT HIGH GPIO(5)
+#PD7  GPS_PPS INPUT FLOATING GPIO(6)
+#define CONFIGURE_PPS_PIN TRUE
+#define HAL_GPIO_PPS 6
+
+# GPS enable pin
+# PD13 GPS_ENABLE OUTPUT HIGH GPIO(20)
+
+# for ProfiLed we need RC out and notify
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ENABLE_NOTIFY