HAL_ChibiOS: added QioTekZealotH743 support

libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotH743/README.md

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+## QioTekZealotH743 Flight Controller
+
+The QioTek Zealot H743 flight controller is sold by a range of resellers listed on the QIOTEK(http://www.Qio-Tek.com)
+
+## Features
+
+•	STM32H743VIT6 microcontroller
+
+•	Three IMUs, one ICM42688-P(SPI), one ICM42605(SPI), one ICM20689(SPI), ADIS1647X for reserve(SPI)
+
+•	internal heater for IMUs temperature control
+
+•	internal Soft Rubber Damping Ball isolation for All interna IMUs
+
+•	Two DPS310(SPI) barometers
+
+•	builtin QMC5883L or IST8310 magnetometer(internal I2C)
+
+•	builtin analog OSD(SPI)
+
+•	builtin RAMTRON(SPI)
+
+•	microSD card slot
+
+•	5 UARTs and USB(Type-C)
+
+•	PPM & S.Bus input
+
+•	14 PWM outputs
+
+•	4 Relay outputs
+
+•	tow I2C ports and two FDCAN ports
+
+•	one S.Bus output(inverter Share Serial5)
+
+•	External Buzzer
+
+•	builtin RGB LED
+
+•	two voltage & current monitoring and servo rail voltage monitoring（support to 36V)）
+
+•	two ADC inputs(default one for RSSI, one for Airspeed sensor, both support to 6.6V)
+
+•	servo rail BEC independent power input for servos
+
+•	builtin BEC（6S 1.5A）power input（share power2 module voltage monitoring）
+ 
+•	external safety Switch
+
+•	external USB connectors (Type-C USB and JST GH1.25)

libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotH743/defaults.parm

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+# setup the heater temperature to 45 degree
+BRD_IMU_TARGTEMP 45
+
+# setup serial2 port defaults for ESP8266
+define HAL_SERIAL2_PROTOCOL SerialProtocol_MAVLink2
+define HAL_SERIAL2_BAUD 921600
+
+# setup the parameter for the ADC power module
+BATT_VOLT_PIN 16
+BATT_CURR_PIN 17
+BATT_VOLT_MULT 20.000
+BATT_AMP_PERVLT 17.000
+BATT2_VOLT_PIN 10
+BATT2_CURR_PIN 11
+BATT2_VOLT_MULT 20.000
+BATT2_AMP_PERVLT 17.000
+
+# setup the parameter for the two Relays GPIO others for reserve
+define RELAY1_PIN_DEFAULT 1
+define RELAY2_PIN_DEFAULT 2

libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotH743/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for Qiotek ZealotH743
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1036
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+#define LED pins
+PE2 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # red
+PE1 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # green
+PE0 LED_RED OUTPUT OPENDRAIN HIGH # blue
+
+define HAL_LED_ON 1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7
+
+# UART7 is debug
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9  VBUS INPUT
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 32768
+
+define BOOTLOADER_DEBUG SD7
+
+# Add CS pins to ensure they are high in bootloader
+PB2  IMU1_CS       CS
+PE10 IMU2_CS       CS
+PE12 IMU3_CS       CS
+PA10 FRAM_CS       CS
+PA15 ADIS1647X_CS  CS
+PA8  AT7456_CS     CS
+PE3  MS5611_CS     CS
+PD7  DPS310_CS     CS
+PC10 FLASH_CS      CS

libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotH743/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py for  Qiotek ZealotH743
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1036
+
+FLASH_SIZE_KB 2048
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9  VBUS INPUT
+
+# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 - internal sensors and OSD
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 - FRAM and SmartCard
+PD3 SPI2_SCK SPI2
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+
+# SPI3 - ADIS16470 sensor
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# sensor 
+
+PB2  IMU1_CS   CS
+PE10 IMU2_CS   CS
+PE12 IMU3_CS   CS
+PE3  BARO1_CS  CS
+PD7  BARO2_CS  CS   
+PA8  AT7456_CS CS
+PA10 FRAM_CS   CS    
+PC10 FLASH_CS  CS    
+PA15 ADIS16470_CS CS
+
+# use GPIO(93) for data ready on ADIS16470
+define ADIS_DRDY_PIN 93
+
+# define the order that I2C buses 
+I2C_ORDER I2C2 I2C1
+
+# I2C1 is on GPS port
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# define UARTs
+
+# USART1 is telem1
+PB15 USART1_RX USART1 
+PB14 USART1_TX USART1
+
+# USART2 is telem2
+PD6 USART2_RX USART2 
+PD5 USART2_TX USART2 
+
+# USART3 is GPS1
+PD9 USART3_RX USART3 
+PD8 USART3_TX USART3 NODMA
+
+# USART4 is GPS2
+PB8 UART4_RX UART4 NODMA
+PB9 UART4_TX UART4 NODMA
+
+# UART7 is debug
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# PWM AUX channels
+PA2  TIM5_CH3 TIM5 PWM(1) GPIO(50)
+PA3  TIM5_CH4 TIM5 PWM(2) GPIO(51)
+PB0  TIM3_CH3 TIM3 PWM(3) GPIO(52)
+PC9  TIM3_CH4 TIM3 PWM(4) GPIO(53) 
+PE9  TIM1_CH1 TIM1 PWM(5) GPIO(54) 
+PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
+PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
+PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
+
+PD12 TIM4_CH1 TIM4 PWM(9)  GPIO(58)
+PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
+PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) 
+PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61) 
+PC6  TIM3_CH1 TIM3 PWM(13) GPIO(62) NODMA
+PC7  TIM3_CH2 TIM3 PWM(14) GPIO(63) NODMA
+
+
+# PWM output for buzzer
+PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
+
+# RC input
+PC8 TIM8_CH3 TIM8 RCININT PULLUP LOW 
+
+# analog in
+PA0 BATT_VOLTAGE_SENS ADC1 SCALE(2)
+PA1 BATT_CURRENT_SENS ADC1 SCALE(2)
+PC0 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
+PC1 BATT2_CURRENT_SENS ADC1 SCALE(2)
+
+# Board VCC and servo rail VCC
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+PC4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
+
+# analog in ADC6.6
+PC5 PRESSURE_SENS ADC1 SCALE(2)
+PB1 RSSI_IN ADC1 SCALE(2)
+
+
+# CAN bus
+PD0  CAN1_RX CAN1
+PD1  CAN1_TX CAN1
+
+# 2nd CAN bus
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+# control for silent (no output) for CAN
+PD11 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+PD10 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+
+
+# SPI devices
+SPIDEV adis16470      SPI3 DEVID1  ADIS16470_CS MODE3   1*MHZ    2*MHZ
+SPIDEV imu1           SPI1 DEVID1  IMU1_CS      MODE3   2*MHZ    8*MHZ
+SPIDEV imu2           SPI1 DEVID2  IMU2_CS      MODE3   2*MHZ    8*MHZ
+SPIDEV imu3           SPI1 DEVID3  IMU3_CS      MODE3   2*MHZ    8*MHZ
+SPIDEV baro1          SPI1 DEVID2  BARO1_CS     MODE3   5*MHZ    5*MHZ
+SPIDEV baro2          SPI1 DEVID1  BARO2_CS     MODE3   5*MHZ    5*MHZ
+SPIDEV osd            SPI1 DEVID2  AT7456_CS    MODE0  10*MHZ   10*MHZ
+SPIDEV ramtron        SPI2 DEVID2  FRAM_CS      MODE3   8*MHZ    8*MHZ 
+SPIDEV sdcard         SPI2 DEVID3  FLASH_CS     MODE0 400*KHZ   10*MHZ
+
+
+# four IMUs, ADIS1647X for reserve
+IMU ADIS1647x    SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN
+IMU Invensense   SPI:imu1 ROTATION_ROLL_180
+IMU Invensensev3 SPI:imu1 ROTATION_YAW_270
+IMU Invensense   SPI:imu2 ROTATION_ROLL_180
+IMU Invensensev3 SPI:imu2 ROTATION_YAW_270
+IMU Invensense   SPI:imu3 ROTATION_ROLL_180
+
+
+# two Baro sensors
+BARO DPS280 SPI:baro1
+BARO DPS280 SPI:baro2
+
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 5
+
+
+# look for I2C compass
+COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
+COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 1
+
+
+# LED setup is similar to PixRacer
+define HAL_HAVE_PIXRACER_LED
+PE2 LED_RED OUTPUT GPIO(10)
+PE1 LED_GREEN OUTPUT GPIO(11)
+PE0 LED_BLUE OUTPUT GPIO(12)
+
+define HAL_GPIO_A_LED_PIN 10
+define HAL_GPIO_B_LED_PIN 11
+define HAL_GPIO_C_LED_PIN 12
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+#define GPIOs
+
+PE15 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+
+PC11 EXTERN_GPIO1 OUTPUT GPIO(1)
+PC12 EXTERN_GPIO2 OUTPUT GPIO(2)
+PD2  EXTERN_GPIO3 OUTPUT GPIO(3)
+PE6  EXTERN_GPIO4 OUTPUT GPIO(4)
+
+# enable FAT filesystem support
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+PC13 LED_SAFETY OUTPUT
+PE4  SAFETY_IN INPUT PULLDOWN
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+DMA_PRIORITY  ADC* SPI1* TIM*UP*
+DMA_NOSHARE  SPI1* TIM*UP*