added radian f4 and h7 hardware definitions

libraries/AP_HAL_ChibiOS/hwdef/Aerium-RadianF405/defaults.parm

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+# Setup default params
+LOG_FILE_BUFSIZE 16

libraries/AP_HAL_ChibiOS/hwdef/Aerium-RadianF405/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for minimal F405 bootloader
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID 90
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 1024
+FLASH_USE_MAX_KB 16
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# LEDs
+PB3 LED_ACTIVITY OUTPUT HIGH GPIO(0)
+define HAL_LED_ON 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 64
+
+# order of UARTs
+SERIAL_ORDER OTG1
+
+# USB setup
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+undef HAL_GPIO_PIN_VBUS
+undef HAL_ENABLE_VBUS_CHECK
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 15360
+
+USB_VENDOR 0x1021
+USB_PRODUCT 0x1090
+USB_STRING_MANUFACTURER "Aerium"
+USB_STRING_PRODUCT "RadianF405-Bootloader"
+
+# Add CS pins to ensure they are high in bootloader
+PB4 BMI270_CS CS
+PA4 LPS22HB_CS CS
+PB12 BMP280_CS CS
+PC13 SDCARD_CS CS
+PC3 ICM42688_CS CS

libraries/AP_HAL_ChibiOS/hwdef/Aerium-RadianF405/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# Omnibus F4 PRO with on-board current sensor
+# with F405 mcu, mpu6000 imu, bmp280 barometer, 7456 series osd  and sdcard
+
+MCU STM32F4xx STM32F405xx
+
+HAL_CHIBIOS_ARCH_F405 1
+
+# board ID for firmware load
+APJ_BOARD_ID 90
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+STM32_ST_USE_TIMER 4
+define CH_CFG_ST_RESOLUTION 16
+
+# flash size
+FLASH_SIZE_KB 1024
+FLASH_RESERVE_START_KB 64
+
+define STORAGE_FLASH_PAGE 1
+define HAL_STORAGE_SIZE 15360
+
+# spi1 bus for IMU
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# spi2 for Barometer
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# spi3 for SD-Card
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# CS pins
+PB4 BMI270_CS CS
+PA4 LPS22HB_CS CS
+PB12 BMP280_CS CS
+PC13 SDCARD_CS CS
+PC3 ICM42688_CS CS
+
+# DRDY pins
+PC4 ICM42688P_DRDY INPUT
+PA15 BMI270_DRDY INPUT
+
+# SPI devices
+SPIDEV bmi270       SPI1 DEVID1 BMI270_CS  MODE3  10*MHZ  10*MHZ
+SPIDEV icm42688     SPI2 DEVID1 ICM42688_CS MODE3  2*MHZ  16*MHZ
+SPIDEV bmp280       SPI2 DEVID2 BMP280_CS MODE3 1*MHZ 8*MHZ
+SPIDEV lps22h       SPI1 DEVID2 LPS22HB_CS MODE3 1*MHZ 10*MHZ
+SPIDEV sdcard       SPI3 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
+
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# order of I2C buses
+I2C_ORDER I2C1 I2C2
+
+# order of UARTs
+SERIAL_ORDER OTG1 USART6 USART3 USART1
+
+#adc
+PC5 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+
+PC1 BATT2_CURRENT_SENS ADC1 SCALE(1)
+PC2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+
+# pwm output. 1 - 4 on main header, 5 & 6 on separated header w/o 5V supply, 7 & 8 on CH5 and CH6 pads
+PB1 TIM1_CH3N TIM1 PWM(1) GPIO(50)
+PB0 TIM1_CH2N TIM1 PWM(2) GPIO(51)
+PA8 TIM1_CH1  TIM1 PWM(3) GPIO(52)
+PA3 TIM2_CH4  TIM2 PWM(4) GPIO(53)
+PA2 TIM2_CH3  TIM2 PWM(5) GPIO(54)
+PA1 TIM2_CH2  TIM2 PWM(6) GPIO(55)
+PC9 TIM8_CH4  TIM8 PWM(7) GPIO(56)
+PC8 TIM8_CH3  TIM8 PWM(8) GPIO(57)
+
+# CAN Bus
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+define CAN_APP_NODE_NAME "org.ardupilot.aerium"
+define UAVCAN_NODE_POOL_SIZE 1024
+
+# note that this board needs PULLUP on I2C pins
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2 for compass with BRD_ALT_CONFIG=1 These pins can also be used as USART3
+PB10 I2C2_SCL I2C2 ALT(1)
+PB11 I2C2_SDA I2C2 ALT(1)
+
+# USART3 with BRD_ALT_CONFIG=0
+PB10 USART3_TX USART3 ALT(0)
+PB11 USART3_RX USART3 ALT(0)
+
+PA10 USART1_RX USART1
+PA9 USART1_TX USART1
+
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+# LEDs & safety
+PC15 LED_SAFETY OUTPUT
+PC14 SAFETY_IN INPUT PULLDOWN
+PB3 LED_BLUE OUTPUT HIGH GPIO(0)
+
+# Alarm
+PA0 TIM5_CH1 TIM5 GPIO(58) ALARM LOW
+define BUZZER_ENABLE_DEFAULT 0
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USB setup
+USB_VENDOR 0x1021
+USB_PRODUCT 0x1090
+USB_STRING_MANUFACTURER "Aerium"
+USB_STRING_PRODUCT "RadianF405"
+
+# RC Input
+PB5 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
+
+# two Compass
+COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
+COMPASS LIS3MDL I2C:0:0x1C false ROTATION_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+# by default first I2C bus is internal
+define HAL_I2C_INTERNAL_MASK 1
+
+# two IMU
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_270
+IMU Invensensev3 SPI:icm42688 ROTATION_NONE
+
+# two baro
+BARO BMP280 SPI:bmp280
+BARO LPS2XH SPI:lps22h
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 15
+define HAL_BATT2_VOLT_PIN 12
+define HAL_BATT2_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 1
+define HAL_BATT2_VOLT_SCALE 1
+define HAL_BATT_CURR_SCALE 1
+define HAL_BATT2_CURR_SCALE 1
+
+define CAN_D1_UC_POOL 1024
+
+# For complementary channels to work we define this
+define STM32_PWM_USE_ADVANCED TRUE
+
+# reduce max size of embedded params for apj_tool.py
+define AP_PARAM_MAX_EMBEDDED_PARAM 1024
+
+# --------------------- save flash ----------------------
+include ../include/minimize_features.inc
+
+undef HAL_VISUALODOM_ENABLED
+define HAL_VISUALODOM_ENABLED 1
+
+undef MODE_GUIDED_NOGPS_ENABLED
+define MODE_GUIDED_NOGPS_ENABLED 1
+
+undef GPS_MOVING_BASELINE
+define GPS_MOVING_BASELINE 1
+
+undef AP_FOLLOW_ENABLED
+define AP_FOLLOW_ENABLED 1
+
+undef MODE_FOLLOW_ENABLED
+define MODE_FOLLOW_ENABLED 1
+
+undef AP_OPTICALFLOW_ENABLED
+define AP_OPTICALFLOW_ENABLED 1
+
+undef MODE_FLOWHOLD_ENABLED
+define MODE_FLOWHOLD_ENABLED 1
+
+undef HAL_BARO_WIND_COMP_ENABLED
+define HAL_BARO_WIND_COMP_ENABLED 1
+
+undef HAL_PARACHUTE_ENABLED
+define HAL_PARACHUTE_ENABLED 1
+
+undef HAL_PICCOLO_CAN_ENABLE
+define HAL_PICCOLO_CAN_ENABLE 1
+
+undef HAL_ENABLE_DRONECAN_DRIVERS
+define HAL_ENABLE_DRONECAN_DRIVERS 1
+
+undef AC_NAV_GUIDED
+define AC_NAV_GUIDED 1
+
+undef WEATHERVANE_ENABLED
+define WEATHERVANE_ENABLED 1

libraries/AP_HAL_ChibiOS/hwdef/Aerium-RadianH743/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for Aerium Radian H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 91
+
+# 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 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# 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
+PD10  PINIO1 OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 MAX7456_CS CS
+PE11 IMU2_CS CS
+PD4 EXT_CS1 CS
+PE2 EXT_CS2 CS
+PC13 IMU3_CS CS