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) 
+ - 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, and 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 (SPARE, DMA-enabled)|
+|SERIAL4|TX3/RX3|UART3 (GPS1, DMA-enabled)|
+|SERIAL5|TX4/RX4|UART4 (RCIN, DMA-enabled)|
+|SERIAL6|TX6/RX6|UART6 (VTX, DMA-enabled)|
+|SERIAL7|TX8/RX8|UART8 (ESC-Telemetry)|
+
+## 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 default to be disabled and can be enabled by setting the following parameter:
+ - BRD_SAFETY_DEFLT 1
+
+## RC Input
+
+RC input is configured on the on UART4 with sh1.0 connector. It supports all serial RC protocols. DJI sbus needs solder connection for the solder pad and are connected to UART4, inversion for UART4 needs to be configured.
+
+## OSD Support
+
+SkySakura H743 only supports HD OSD through uart connection. However, external spi is provided and an external AT7456E can be connected to enable analog OSD.
+
+## PWM Output
+
+The SkySakura H743 has 13 PWM outputs. M1-M8 are linked to sh1.0 8 pin connectors. All 8 outputs support bi-directional DShot and DShot. Output 9-13 support normal Dshot and 13 is configured as LED.
+
+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. The voltage sensor can handle up to 12S LiPo batteries. Current sensor and BATT2 moniter is present.
+BATT2 voltage input is 6.6V capable, voltage divider resistor is 10k/10k so maximum input on batt2 pad is 13.2V.
+ADC3 pad is BATT2 current input, ADC4 pad is BATT2 voltage input.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_VOLT_MULT 34
+ - BATT_CURR_PIN 11
+ - BATT2_MONITOR 4
+ - BATT2_VOLT_PIN 12
+ - BATT2_CURR_PIN 13
+ - BATT2_VOLT_MULT 10
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The SkySakura H743 have a builtin IST8310 compass.
+
+## NeoPixel LED
+
+PWM13 provides external NeoPixel LED support.
+
+## 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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+# SERIAL1 is MAVLink2 by default
+SERIAL1_PROTOCOL 2
+SERIAL1_BAUD 57
+# SERIAL2 is MAVLink2 by default
+SERIAL2_PROTOCOL 2
+SERIAL2_BAUD 57
+# SERIAL4 is GPS by default
+SERIAL4_PROTOCOL 5
+SERIAL4_BAUD 230
+# SERIAL5 is ESC-telemetry by default
+SERIAL5_PROTOCOL 23
+SERIAL5_BAUD 115
+# SERIAL6 is VTX-DisplayPort by default
+SERIAL6_PROTOCOL 42
+SERIAL6_BAUD 115
+# SERIAL7 is ESC-telemetry by default
+SERIAL7_PROTOCOL 16
+SERIAL7_BAUD 115
+# Disable safety button by default
+BRD_SAFETY_DEFLT 0
+# Default FRAME
+FRAME_CLASS 1
+FRAME_TYPE 12

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
+
+# 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