hwdef: SkySakura H743 fc Support

SkySakura H743 fc Support

libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/README.md

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+# SkySakura H743 Flight Controller
+
+The SkySakura H743 is a flight controller produced by [SkySakuraRC]
+
+## Features
+
+ - MCU: STM32H743VIT6, 480MHz
+ - Gyro1: ICM42688
+ - Gyro2: IIM42652
+ - SD Card support
+ - BEC output: 5V 5A & 12V 5A (MAX 60W total) (switchable 12V)
+ - Barometer1: DPS310
+ - Barometer2: ICP20100
+ - Magnometer: IST8310
+ - CAN bus support
+ - 7 UARTS: (USART1, USART2, USART3, UART4, USART6, UART7 with flow control, UART8)
+ - 2 I2C, I2C1 is used internally.
+ - 13 PWM outputs (12 motor outputs, 1 led)
+ - 4-12s wide voltage support
+
+## Pinout
+
+![SkySakura H743 Board](SkySakuraH743.png "SkySakura H743")
+
+## UART Mapping
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
+receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+|Name|Pin|Function|
+|:-|:-|:-|
+|SERIAL0|COMPUTER|USB|
+|SERIAL1|RX7/TX7|UART7 (MAVLink2, flow-control-capable)|
+|SERIAL2|TX1/RX1|UART1 (MAVLink2, DMA-enabled)|
+|SERIAL3|TX2/RX2|UART2 (USER)|
+|SERIAL4|TX3/RX3|UART3 (GPS1, DMA-enabled)|
+|SERIAL5|TX4/RX4|UART4 (RCIN, DMA-enabled)|
+|SERIAL6|TX6/RX6|UART6 (DisplayPort, DMA-enabled)|
+|SERIAL7|TX8/RX8|UART8 (ESC-Telemetry, RX8 on ESC connectors, TX8 can be used if protocol is change from ESC telem)|
+|SERIAL8|COMPUTER|USB|
+
+## Safety Button
+
+SkySakura H743 supports safety button, with connection to sh1.0 6 pin connector, with buzzer and safety led on the same connector.
+Safety button is defaulted to be disabled but can be enabled by setting the following parameter:
+ - BRD_SAFETY_DEFLT 1
+
+## RC Input
+
+RC input is configured on UART4 with an sh1.0 connector. It supports all RC protocols except PPM. The SBUS pin on the HD VTX connector is tied directly the UART4 RX. If ELRS is used on UART4, then the SBUS lead from a DJI VTX must not be connected to the SBUS to prevent ELRS lock up on boot.
+
+## OSD Support
+
+SkySakura H743  supports HD OSD through UART6 by default.
+
+## VTX Power Control
+
+The 12VSW output voltage on the HD VTX connector is controlled by GPIO 85, via RELAY1 by default. Low activates the voltage.
+
+## PWM Output
+
+The SkySakura H743 has 13 PWM outputs. M1-M8 are linked to sh1.0 8 pin connectors. The first 8 outputs support bi-directional DShot and DShot. Output 9-13 only support non-DShot protocols and 13 is configured as NEOPIXEL LED by default.
+
+The PWM are in in two groups:
+
+ - PWM 1-2 in group1
+ - PWM 3-4 in group2
+ - PWM 5-6 in group3
+ - PWM 7-8 in group4
+ - PWM 9-12 in group5
+ - PWM 13 in group6
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use DShot.
+
+## Battery Monitoring
+
+The board has a builtin voltage sensor and external current monitor inputs. The voltage sensor can handle up to 12S LiPo batteries. The current sensor scale's default range is 120A, but will need to be adjusted according to which sensor is used. These inputs are present on the first ESC connector.
+A second battery monitor can be also used. Its voltage sensor is capable of reading up to 6.6V maximum and is available on the A3 solder pad. Its current monitor input is on the A4 solder pad.
+
+The default battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_VOLT_MULT 34
+ - BATT_CURR_PIN 11
+ - set BATT2_MONITOR 4
+ - BATT2_VOLT_PIN 12
+ - BATT2_CURR_PIN 13
+ - BATT2_VOLT_MULT 10
+ - set BATT2_AMP_PERVLT to appropriate value for second current sensor
+
+## Compass
+
+The SkySakura H743 have a builtin IST8310 compass. Due to motor interference, users often disable this compass and use an external compass attached via the external SDA/SCL pins.
+
+## NeoPixel LED
+
+PWM13 provides external NeoPixel LED support.
+
+
+## Firmware
+
+Firmware can bee found on the `firmware server < https://firmware.ardupilot.org`__ in the "SkySakuraH743"  folders
+
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+\*.apj firmware files.

libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/defaults.parm

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+SERVO13_FUNCTION 120
+NTF_LED_TYPES 257

libraries/AP_HAL_ChibiOS/hwdef/SkySakuraH743/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for SakuraH743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 2714
+
+# USB setup
+USB_STRING_MANUFACTURER "SkySakura"
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts 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
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE10 UART7_CTS UART7
+PE9  UART7_RTS UART7
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# make sure Vsw is on during bootloader
+PE15  PINIO1 OUTPUT HIGH
+
+PB5 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PA4 IMU1_CS CS
+PE11 IMU2_CS CS
+PC5 BARO2_CS CS
+PB12 EXT_CS CS
+
+
+# enable DFU by default
+ENABLE_DFU_BOOT 1
+
+# enable flashing from SD card:
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
+
+# FATFS support:
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_SEMAPHORES 0
+define CH_CFG_USE_MUTEXES 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+define CH_CFG_USE_REGISTRY 1