diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/defaults.parm
new file mode 100644
index 0000000000..8dd37bd7f1
--- /dev/null
+++ b/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
+
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/hwdef-bl.dat
new file mode 100644
index 0000000000..c74391c2bd
--- /dev/null
+++ b/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
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/NucleoH755/hwdef.dat
new file mode 100644
index 0000000000..b14421a04c
--- /dev/null
+++ b/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