AP_HAL_ChibiOS: add GEPRC_TAKER_H743

libraries/AP_HAL_ChibiOS/hwdef/GEPRC_TAKER_H743/README.md

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+# GEPRC TAKER H743 BT Flight Controller
+
+The TAKER H743 BT is a flight controller produced by [GEPRC](https://geprc.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - MPU6000+ICM42688 dual IMU
+ - SPL06-001 barometer
+ - microSD based 512MB flash logging
+ - AT7456E OSD
+ - 7 UARTs
+ - 8 PWM outputs
+
+## Pinout
+
+![TAKER H743 BT Board](TAKER_H743_BT_Board_Top.jpg "GEPRC_TAKER_H743")
+![TAKER H743 BT Board](TAKER_H743_BT_Board_Bottom.jpg "GEPRC_TAKER_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.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (DisplayPort, DMA-enabled)
+ - SERIAL2 -> UART2 (RCIN, DMA-enabled) 
+ - SERIAL3 -> UART3 (connected to internal BT module, not currently usable by ArduPilot)
+ - SERIAL4 -> UART4 (GPS)
+ - SERIAL6 -> UART6 (User)
+ - SERIAL7 -> UART7 (User)
+ - SERIAL8 -> UART8 (ESC Telemetry)
+
+## RC Input
+
+RC input is configured by default via the USAR2 RX input. It supports all unidirectional RC protocols except PPM. FPort and full duplex protocols, like CRSF/ELRS, will need to use TX2 also.
+
+Note:
+If the receiver is FPort or a full duplex protocol, then the receiver must be tied to the USART2 TX pin and [SERIAL2_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#serial2-options) = 7 (invert TX/RX, half duplex), and [RSSI_TYPE](https://ardupilot.org/copter/docs/parameters.html#rssi-type) =3.
+
+## FrSky Telemetry
+
+FrSky Telemetry is supported using the Tx pin of any UART excluding SERIAL3UART3. To enable support for FrSky S.PORT (the example shows SERIAL6), you need to set the following parameters.
+
+  - SERIAL6_PROTOCOL 10
+  - SERIAL6_OPTIONS 7
+
+## OSD Support
+
+The TAKER H743 BT supports analog OSD using its internal OSD chip and simultaneously HD goggle DisplayPort OSDs via the HD VTX connector.
+
+## VTX Support
+
+The SH1.0-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 12v (or VBAT by solder pad selection) so be careful not to connect to devices expecting 5v.
+
+## PWM Output
+
+The TAKER H743 BT supports up to 9 PWM/DShot outputs. The pads for motor output
+M1 to M4 are on the esc connector, M5-M8 are solder pads, plus M9 is defaulted for serial LED strip or can be used as another PWM output.
+
+The PWM is in 4 groups:
+
+ - PWM 1-4 in group1
+ - PWM 5-6 in group2
+ - PWM 7-8 in group3
+ - PWM 9 in group4
+
+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. Channels 1-8 support bi-directional DShot.
+
+## Battery Monitoring
+
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 6S.
+LiPo batteries.
+
+The default battery parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 13
+ - BATT_VOLT_SCALE 11.1
+ - BATT_CURR_PIN 12
+ - BATT_CURR_SCALE 28.5
+
+## Compass
+
+The TAKER H743 BT does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## 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/GEPRC_TAKER_H743/defaults.parm

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+# setup for LEDs on chan9
+SERVO9_FUNCTION 120
+
+OSD_TYPE2 5

libraries/AP_HAL_ChibiOS/hwdef/GEPRC_TAKER_H743/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for GEPRFH743-BT-HD bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_GEPRC_TAKER_H743
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+define STM32_LSECLK   32768U
+define STM32_LSEDRV   (3U << 3U)
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 384
+
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PD2 BUZZER OUTPUT LOW PULLDOWN
+
+PC13 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Motors for esc init
+PB0   PWMOUT1 OUTPUT LOW
+PB1   PWMOUT2 OUTPUT LOW
+PB5   PWMOUT3 OUTPUT LOW
+PB4   PWMOUT4 OUTPUT LOW
+PD12  PWMOUT5 OUTPUT LOW
+PD13  PWMOUT6 OUTPUT LOW
+PC8   PWMOUT7 OUTPUT LOW
+PC9   PWMOUT8 OUTPUT LOW
+
+# Add CS pins to ensure they are high in bootloader
+PA15  SDCARD_CS   CS
+PE4   MAX7456_CS  CS
+PA4   MPU6000_CS  CS
+PB12  ICM42605_CS CS

libraries/AP_HAL_ChibiOS/hwdef/GEPRC_TAKER_H743/hwdef.dat

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+# hw definition file for processing by chibios_pins.py
+# for TAKER H743 BT hardware.
+# thanks to betaflight for pin information
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_GEPRC_TAKER_H743
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+MCU_CLOCKRATE_MHZ 480
+
+FLASH_SIZE_KB 2048
+
+# leave 2 sectors free
+FLASH_RESERVE_START_KB 384
+
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# I2C1 for baro
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# order of UARTs (and USB), 
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY USART6 UART7 UART8
+
+# buzzer
+#define HAL_BUZZER_PIN 80
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for MPU6000
+PA4 MPU6000_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI2 for ICM42688
+PB12 ICM42605_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 for SDCard
+PA15 SDCARD_CS CS
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+# SPI4 for MAX7456 OSD
+PE4 MAX7456_CS CS
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 13
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT_VOLT_SCALE 11.13
+define HAL_BATT_CURR_SCALE 28.5
+
+PC13 LED0 OUTPUT LOW GPIO(90) # LED
+define AP_NOTIFY_GPIO_LED_1_ENABLED 1
+define AP_NOTIFY_GPIO_LED_1_PIN 90
+
+# In order to accommodate bi-directional dshot certain devices cannot be DMA enabled
+# NODMA indicates these devices, if you remove it they will still not be resolved for DMA
+
+# USART1
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# USART2
+# RC input defaults to UART to allow for bi-dir dshot
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# USART3 (BT)
+PB11 USART3_RX USART3 NODMA
+PB10 USART3_TX USART3 NODMA
+define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
+
+# UART4 (GPS)
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# UART6
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_None
+
+# UART7
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_None
+
+# UART8
+PE0 UART8_RX UART8 NODMA
+PE1 UART8_TX UART8 NODMA
+define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_ESCTelemetry
+
+# Motors, bi-directional dshot capable
+PB0     TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR     # M1
+PB1     TIM3_CH4 TIM3 PWM(2) GPIO(51)           # M2
+PB5     TIM3_CH2 TIM3 PWM(3) GPIO(52)           # M3
+PB4     TIM3_CH1 TIM3 PWM(4) GPIO(53) BIDIR     # M4
+PD12    TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR     # M5
+PD13    TIM4_CH2 TIM4 PWM(6) GPIO(55)           # M6
+PC8     TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR     # M7
+PC9     TIM8_CH4 TIM8 PWM(8) GPIO(57)           # M8
+
+# extra PWM outs
+PA8  TIM1_CH1 TIM1 PWM(9) GPIO(58) # led pin
+PD2 BUZZER OUTPUT GPIO(80) LOW
+define HAL_BUZZER_PIN 80
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
+DMA_PRIORITY TIM3* TIM4* USART2*
+DMA_NOSHARE SPI1* SPI2*
+
+define HAL_STORAGE_SIZE 16384
+STORAGE_FLASH_PAGE 1
+
+# spi devices
+SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS  MODE3  1*MHZ  8*MHZ
+SPIDEV icm42688   SPI2 DEVID1 ICM42605_CS MODE3  2*MHZ  16*MHZ
+SPIDEV sdcard     SPI3 DEVID1 SDCARD_CS   MODE0  400*KHZ 25*MHZ
+SPIDEV osd        SPI4 DEVID4 MAX7456_CS  MODE0  10*MHZ 10*MHZ
+
+# IMU setup
+IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
+IMU Invensense   SPI:mpu6000  ROTATION_YAW_90
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# one BARO
+#BARO BMP280 I2C:0:0x76
+#BARO  DPS310 I2C:0:0x76
+BARO  SPL06  I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+#only enable BMP280 Baro
+#define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+#undef define AP_BARO_BMP280_ENABLED
+#define AP_BARO_BMP280_ENABLED 1
+define AP_BARO_SPL06_ENABLED  1
+define AP_BARO_MS56XX_ENABLED 1
+
+
+
+# need to probe external baros even 'though we're minimised to allow custom build options:
+undef AP_BARO_PROBE_EXTERNAL_I2C_BUSES
+define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 1