AP_HAL_ChibiOS: add support for NucleoH755 board

This addition allows for cheap testing of a STM32H755 (dual core). This borrows the setup file STM32H757xx.py, as there are almost no changes between the chips. CRSF in and out, gps, ICM20948, BMP388, settings saving to on board flash all working.

PWM(3) pin change

Changed PWM(3) pin to one exposed on connector

libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/defaults.parm

@@ -0,0 +1,9 @@
+SERIAL3_BAUD 57
+SERIAL3_PROTOCOL 5
+SERIAL3_OPTIONS 256
+
+SERIAL4_BAUD 115
+SERIAL4_PROTOCOL 23
+SERIAL4_OPTIONS 0
+
+

libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/hwdef-bl.dat

@@ -0,0 +1,43 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H755 bootloader - H755 is almost identical to H757, so utilizing its STM32H757xx.py file
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+define CORE_CM7
+define SMPS_PWR
+
+# board ID for firmware load
+APJ_BOARD_ID 139
+
+# the nucleo seems to have trouble with flashing the last sector?
+FLASH_SIZE_KB 2048
+
+# the location where the bootloader will put the firmware
+# the H755 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 256
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+#LED setup
+PB0 LED_BOOTLOADER OUTPUT LOW
+PB14 LED_ACTIVITY OUTPUT LOW
+define HAL_LED_ON 0
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Add CS pins to ensure they are high in bootloader
+PA4 MPU_CS CS
+PC7 BARO_CS CS
+

libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/hwdef.dat

@@ -0,0 +1,147 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H755 - H755 is almost identical to H757, so utilizing its STM32H757xx.py file
+
+AUTOBUILD_TARGETS None
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+STM32_ST_USE_TIMER 5
+
+define CORE_CM7
+define SMPS_PWR
+
+# board ID for firmware load
+APJ_BOARD_ID 139
+
+# the nucleo seems to have trouble with flashing the last sector?
+FLASH_SIZE_KB 2048
+
+FLASH_BOOTLOADER_LOAD_KB 256
+FLASH_RESERVE_START_KB 256
+
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 UART7 USART1 UART4 UART5
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# order of UARTs and suggested uses
+# USART2 TELEM1
+# UART7 TELEM2
+# USART1 GPS
+# UART4 RCIN/OUT Telem
+# UART5 DEBUG
+
+# telem1 USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# telem2 UART7 
+PF9 UART7_CTS UART7
+PF8 UART7_RTS UART7
+PF7 UART7_TX UART7
+PF6 UART7_RX UART7
+
+# GPS USART1
+PB7 USART1_RX USART1
+PB6 USART1_TX USART1
+
+#  RCIN/OUT UART4
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+
+# debug uart5
+PB13 UART5_TX UART5
+PB12 UART5_RX UART5
+
+# 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
+
+# CAN Busses
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# PWM Output
+PB1  TIM8_CH3N TIM8  PWM(1)  GPIO(50)
+PA0  TIM2_CH1  TIM2  PWM(2)  GPIO(51)
+PE9  TIM1_CH1  TIM1  PWM(3)  GPIO(52)
+PA2  TIM2_CH3  TIM2  PWM(4)  GPIO(53)
+PA3  TIM2_CH4  TIM2  PWM(5)  GPIO(54)
+PD12 TIM4_CH1  TIM4  PWM(6)  GPIO(55)
+PD13 TIM4_CH2  TIM4  PWM(7)  GPIO(56)
+PD14 TIM4_CH3  TIM4  PWM(8)  GPIO(57)
+PD15 TIM4_CH4  TIM4  PWM(9)  GPIO(58)
+PE5  TIM15_CH1 TIM15 PWM(10) GPIO(59)
+PE6  TIM15_CH2 TIM15 PWM(11) GPIO(60)
+PA8  TIM1_CH1  TIM1  PWM(12) GPIO(61) # for WS2812 LED
+
+define HAL_SPI_CHECK_CLOCK_FREQ
+
+# sensor CS
+PC7 MPU_CS CS
+
+# status LEDs
+define HAL_LED_ON 0
+PB0 LED OUTPUT HIGH GPIO(0) #Green
+PE1 LED1 OUTPUT HIGH GPIO(2) #Yellow
+PB14 LED2 OUTPUT HIGH GPIO(1) #Red
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+define HAL_GPIO_LED_OFF 1
+define HAL_GPIO_LED_ON 0
+
+# I2C
+I2C_ORDER I2C2
+define HAL_I2C_INTERNAL_MASK 0
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# Enable FAT filesystem support (needs a microSD defined via SDMMC).
+define HAL_OS_FATFS_IO 1
+# Now some defines for logging and terrain data files.
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# barometers
+BARO BMP388 I2C:0:0x77
+
+# SPI1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI3
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# SPI devices
+SPIDEV icm20948        SPI3 DEVID1  MPU_CS   MODE3  4*MHZ  8*MHZ
+
+# analog in
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# probe for an invensense IMU
+IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
+
+# compass as part of ICM20948 on newer cubes
+COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90