hwdef: Add a new hwdef param for AEROFOX H7 flight control

Tools/AP_Bootloader/board_types.txt

@@ -430,7 +430,10 @@ AP_HW_CUAV-7-NANO                    7000
 # IDs 7100-7109 reserved for V-UAV
 AP_HW_VUAV-V7pro                     7100
 
-# please fill gaps in the above ranges rather than adding past ID #7109
+# IDs 7200-7209 reserved for AEROFOX
+AP_HW_AEROFOX_H7                     7200
+
+# please fill gaps in the above ranges rather than adding past ID #7209
 
 
 # OpenDroneID enabled boards. Use 10000 + the base board ID

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md

@@ -0,0 +1,101 @@
+# AEROFOX-H7 Flight Controller
+
+The AEROFOX-H7 is a flight controller produced by AEROFOX(http://aerofox.cn)
+
+<img src="AEROFOX-H7_IMG.png" alt="" width="400">
+
+## Features
+    Processor
+        STM32H743
+
+    Sensors
+        ADIS16470 (appears in the advanced version)
+        ICM45686 (appears in the advanced version)
+        ICM42688
+        QMC5883L
+        SPL06-001
+
+    Power
+        2S-12S (MAX60V) Lipo input voltage
+        5V BEC for system power supply( 5V peripheral current limit 1.2A)
+        5V/12V BEC for VTX( Current limit 2.5A, need strong heat dissipation)
+        Dual power automatic switching and condition monitoring
+
+    Interfaces
+        16x PWM output
+        7x UARTs for RC, TELEM, GPS and other peripherals
+        2x I2C ports for external compass, airspeed, baro
+        2x CAN port
+        4x Relay output
+        4x ADC input
+
+    FPC connector
+        The connector includes an SPI, an I2C, an PWM IMU heating control pin.
+
+## Pinout
+<img src="AEROFOX-H7_pinout.png" alt="" width="800">
+
+## UART Mapping
+
+All UARTs, except UART1, are DMA enabled. UART corresponding to each SERIAL port, and its default protocol, are shown below:
+- SERIAL0 -> USB (MAVLink2)
+- SERIAL1 -> UART7 (ESC Telemetry)
+- SERIAL2 -> UART4 (User configured)
+- SERIAL3 -> UART5 (User configured)
+- SERIAL4 -> USART2 (User configured)
+- SERIAL5 -> USART1 (GPS)
+- SERIAL6 -> UART8 (RCIN)
+- SERIAL7 -> USART3 (MAVLink2)
+
+## RC Input
+
+SERIAL 6 is configured for RC input by default and is compatible with all ArduPilot supported protocols except PPM. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set SERAIL6_OPTIONS = 4 (Half-Duplex)
+
+## PWM Output
+
+The AEROFOXH7 support up to 16PWM outputs. All pins support DShot. Outputs 1-8 support bi-directional DShot.
+
+The 16 PWM outputs are in 9 groups:
+
+- PWM 1,2 in group1
+- PWM 3,4  in group2
+- PWM 5,6  in group3
+- PWM 7,8 in group4
+- PWM 9,10  in group5
+- PWM 11  in group6
+- PWM 12 in group7
+- PWM 13,14 in group8
+- PWM 15,16 in group9
+
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The voltage sensor can handle up
+to 12S LiPo batteries.
+
+### The power A is onboard voltage sensor
+It is enabled by default and has the following parameters set by default:s
+- BATT_MONITOR 4
+- BATT_VOLT_PIN 19
+- BATT_CURR_PIN 9
+- BATT_VOLT_MULT 21
+- BATT_AMP_PERVL 40
+
+### The power B is external PMU input
+An additional power monitor input is provided and can be enabled by setting:
+- BATT_MONITOR 4, then reboot and set the following:
+- BATT_VOLT_PIN 10
+- BATT_CURR_PIN 11
+- BATT_VOLT_MULT 34
+- BATT_AMP_PERVLT should be set as required by the specific monitor used
+
+## Compass
+
+A 5883L compass is installed inside the H7 flight control. When high current devices such as ESC and BEC are installed under the flight control board, the on-board compass is usually disabled and an external compass used mounted to minimize motor current effects.
+
+## Loading Firmware
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the
+loading of *.apj firmware files with any ArduPilot compatible ground station. The
+hardware also supports the PX4 Betaflight INAV firmware, which needs to be changed with STlink.
+

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef-bl.dat

@@ -0,0 +1,53 @@
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_AEROFOX_H7
+
+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
+
+#define LED pins
+PE14 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # red
+PE12 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # green
+PE13 LED_RED OUTPUT OPENDRAIN HIGH # blue
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1
+
+# UART1 is debug
+PA9 USART1_TX USART1 NODMA
+PA10 USART1_RX USART1 NODMA
+
+PC13 VDD_3V3_SENSORS_EN OUTPUT LOW OPENDRAIN
+PC4 nVDD_5V_PERIPH_EN OUTPUT HIGH OPENDRAIN
+PE8 nVDD_12V_PERIPH_EN OUTPUT LOW OPENDRAIN
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 32768
+define HAL_LED_ON 1
+
+# define BOOTLOADER_DEBUG SD7
+
+# Add CS pins to ensure they are high in bootloader
+PD7  16470_CS     CS
+PD4  42688_1_CS  CS
+PC15 42688_2_CS  CS
+
+PD10 FRAM_CS   CS SPEED_VERYLOW
+PC14 FLASH_CS CS