hwdef: Initial support for M10126_canpwm board

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

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+###########################################################################################################################################################
+# mRo CAN PWM breakout
+# 12x PWM / IO 3V3 logic level
+# Connector options: 90deg 0.1", straight or no headers.
+# External power supply for servos in solder pads.
+# 1x UART port exposed in solder pads.
+# Blue LEd status indicator.
+# Uncased Weight and Dimensions:
+# Weight:  ()
+# Width:  33mm (.79in)
+# Length: 31.3mm (1.34in)
+# Screw hole pattern: 19x25mm
+# M10126A - Initial release March 2023
+###########################################################################################################################################################
+
+MCU STM32G4xx STM32G474xx
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 32
+
+# reserve some space for params
+APP_START_OFFSET_KB 8
+
+FLASH_SIZE_KB 512
+
+# board ID for firmware load
+APJ_BOARD_ID 1098
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# debug on USART2
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+#define CH_CFG_ST_FREQUENCY 1000000
+
+# order of UARTs
+SERIAL_ORDER USART1
+
+# blue LED
+PB10 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+# USART1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_SERIAL TRUE
+
+define STM32_SERIAL_USE_USART1 TRUE
+define STM32_SERIAL_USE_USART2 FALSE
+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
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+
+define DMA_RESERVE_SIZE 0
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+#PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+define CAN_APP_NODE_NAME "org.ardupilot.mRoCANPWM-M10126"
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a smaller bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 2500

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

@@ -0,0 +1,95 @@
+###########################################################################################################################################################
+# mRo CAN PWM breakout
+# 12x PWM / IO 3V3 logic level
+# Connector options: 90deg 0.1", straight or no headers.
+# External power supply for servos in solder pads.
+# 1x UART port exposed in solder pads.
+# Blue LEd status indicator.
+# Uncased Weight and Dimensions:
+# Weight: g ()
+# Width:  33mm (in)
+# Length: 31.3mm (in)
+# Screw hole pattern: 19x25mm
+# M10126A - Initial release March 2023
+###########################################################################################################################################################
+
+MCU STM32G4xx STM32G474xx
+
+FLASH_RESERVE_START_KB 40
+FLASH_SIZE_KB 512
+
+STORAGE_FLASH_PAGE 16
+define HAL_STORAGE_SIZE 2000
+
+# board ID for firmware load
+APJ_BOARD_ID 1098
+
+OSCILLATOR_HZ 8000000
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# debug on USART1
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# order of UARTs
+SERIAL_ORDER USART1
+
+# LEDs
+PB10 LED OUTPUT HIGH  # blue
+
+# USART1
+PB6 USART1_TX USART1 NODMA
+PB7 USART1_RX USART1 NODMA
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_ADC FALSE
+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 2048
+
+define HAL_DISABLE_LOOP_DELAY
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+define CAN_APP_NODE_NAME "io.mrobotics.mRoCANPWM-M10126"
+
+# PWM - BIDIR config pending
+PA0     TIM5_CH1    TIM5    PWM(1)  GPIO(50) 
+PA1     TIM5_CH2    TIM5    PWM(2)  GPIO(51) 
+PA2     TIM5_CH3    TIM5    PWM(3)  GPIO(52) 
+PA3     TIM5_CH4    TIM5    PWM(4)  GPIO(53) 
+PB15    TIM15_CH2   TIM15   PWM(5)  GPIO(54) 
+PA8     TIM1_CH1    TIM1    PWM(6)  GPIO(55)
+PA9     TIM1_CH2    TIM1    PWM(7)  GPIO(56)
+PA10    TIM1_CH3    TIM1    PWM(8)  GPIO(57)
+PA6     TIM3_CH1    TIM3    PWM(9)  GPIO(58) 
+PA7     TIM3_CH2    TIM3    PWM(10) GPIO(59)
+PB0     TIM3_CH3    TIM3    PWM(11) GPIO(60)
+PB1     TIM3_CH4    TIM3    PWM(12) GPIO(61)
+
+define HAL_PERIPH_ENABLE_RC_OUT
+#define HAL_PERIPH_ENABLE_NOTIFY
+
+# enable ESC control
+define HAL_SUPPORT_RCOUT_SERIAL 1
+define HAL_WITH_ESC_TELEM 1
+