AP_HAL_ChibiOS: add hwdef for Here4FC

libraries/AP_HAL_ChibiOS/hwdef/Here4FC/defaults.parm

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+# setup for ProfiLED
+SERVO9_FUNCTION 132
+SERVO10_FUNCTION 129
+NTF_LED_TYPES 512
+NTF_LED_BRIGHT 2
+NTF_LED_LEN 4
+
+# Disable Logging by default
+LOG_BACKEND_TYPE 0
+
+# make node id to not conflict with ardupilot default
+CAN_D1_UC_NODE 8

libraries/AP_HAL_ChibiOS/hwdef/Here4FC/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.here4fc"
+
+PB6 USART1_TX  USART1
+PB7 USART1_RX  USART1
+
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# order of UARTs
+SERIAL_ORDER USART1 UART8
+
+# setup for blanking LEDs in bootloader
+define AP_BOOTLOADER_CUSTOM_HERE4

libraries/AP_HAL_ChibiOS/hwdef/Here4FC/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
+
+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
+
+
+# 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)
+
+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
+
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+SERIAL_ORDER USART1 UART4 UART8 USART2
+
+define DRONEID_MODULE_PORT 2
+define DRONEID_MODULE_CHAN MAVLINK_COMM_0
+
+define AP_UART_MONITOR_ENABLED 1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+
+# RCInput
+PB15 TIM12_CH2 TIM12 RCININT PULLDOWN LOW
+
+# RCOutput
+PE9  TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
+PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51) # shared with channel 1
+PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
+PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) # shared with channel 3
+PC7  TIM3_CH2 TIM3 PWM(5) GPIO(54) BIDIR
+PC8  TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR
+PC9  TIM3_CH4 TIM3 PWM(7) GPIO(56) BIDIR
+PA3  TIM2_CH4 TIM2 PWM(8) GPIO(57) BIDIR
+
+# 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
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+PB10 SLEEPCAN2 OUTPUT PUSHPULL SPEED_LOW LOW
+PB11 TERMCAN2 OUTPUT HIGH GPIO(4)
+
+define AP_OPENDRONEID_ENABLED 1
+
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB2 SPI3_MOSI SPI3
+PB1 MAG_CS CS
+
+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
+
+# HOTSHOE pin repurposed for BATT Voltage Sens
+PA1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+
+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
+
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_270
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 5
+
+# WS2812 LED
+PB8 TIM4_CH3 TIM4 PWM(9)
+PB9 TIM4_CH4 TIM4 PWM(10)
+
+PD11 GPS_TP1 OUTPUT LOW GPIO(5)
+PD7  GPS_PPS INPUT PULLUP GPIO(6)
+define CONFIGURE_PPS_PIN TRUE
+define HAL_GPIO_PPS 6
+
+PD12 GPS_SAFEBOOT_N INPUT FLOATING GPIO(11)
+define GPIO_UBX_SAFEBOOT 11
+PD13 GPS_RESET_N INPUT FLOATING GPIO(12)
+define GPIO_UBX_RESET 12
+define HAL_EARLY_WATCHDOG_INIT