AP_HAL_ChibiOS: Added support for ZeroOne_Air flight controller

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/README.md

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+## ZeroOneX6 Air Flight Controller
+The ZeroOneX6_Air is a series of flight controllers manufactured by ZeroOne, which is based on the open-source FMU v6C architecture and Pixhawk Autopilot Bus open source specifications.  
+
+![Uploading ZeroOneX6_Air.jpg…](https://github.com/ZeroOne-Aero/ardupilot/blob/ZeroOneX6_Air/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.png?raw=true)
+
+
+## Features:
+- Separate flight control Inertial Measurement Unit design.
+- MCU 
+   STM32H743IIK6 32-bit processor running at 400MHz
+   2MB Flash
+   1MB RAM
+- IO MCU
+   STM32F103
+- **Sensors of Air**
+    - IMU:  
+        With Synced IMU, BalancedGyro technology, low noise and more shock-resistant:  
+        IMU- ICM45686 (No vibration isolation)  
+    - Baro:  
+      one barometer ：ICP20100  
+    - Magnetometer:  
+      Builtin IST8310 magnetometer 
+- **Sensors of Air+**
+    - IMU:  
+       Internal Vibration Isolation for IMU  
+       IMU constant temperature heating (1W heating power).  
+       With Double Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:  
+       IMU1- ICM45686 (With vibration isolation)  
+       IMU2- ICM45686 (No vibration isolation)  
+    - Baro:  
+      Two barometers ：2 x ICP20100
+    - Magnetometer:  
+      Builtin IST8310 magnetometer
+
+## Pinout
+![ZeroOneX6_Air Pinout](https://github.com/ZeroOne-Aero/ardupilot/blob/ZeroOneX6_Air/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_AirSeriesPinout.jpg "ZeroOneX6_Air")
+
+## 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    | Function | MCU PINS |   DMA   |
+| :-----: | :------: | :------: | :------:|
+| SERIAL0 | OTG1     | USB      | 
+| SERIAL1 | Telem1   | UART7    |DMA Enabled |
+| SERIAL2 | Telem2   | UART5    |DMA Enabled |
+| SERIAL3 | GPS1     | USART1   |DMA Enabled |
+| SERIAL4 | GPS2     | UART8    |DMA Enabled |
+| SERIAL5 | Telem3   | USART2   |DMA Enabled |
+| SERIAL6 | UART4    | UART4    |DMA Enabled |
+| SERIAL7 | OTG-SLCAN| USB      |
+
+## RC Input
+The remote control signal should be connected to the SBUS RC IN port.It will support ALL unidirectional RC protocols.
+
+## PWM Output
+The X6_Air flight controller supports up to 15 PWM outputs.  
+First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller.  
+The remaining 7 outputs (labelled 9 to 15) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller .  
+All 15 outputs support normal PWM output formats. All 15 outputs support DShot, except 15.
+
+The 8 IO PWM outputs are in 4 groups:
+- Outputs 1 and 2 in group1
+- Outputs 3 and 4 in group2
+- Outputs 5, 6, 7 and 8 in group3
+
+The 8 FMU PWM outputs are in 4 groups:
+- Outputs 1, 2, 3 and 4 in group1
+- Outputs 5 and 6 in group2
+- Outputs 7 in group3
+
+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.
+
+## GPIO
+All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+<table>
+  <tr>
+    <th colspan="3">IO Pins</th>
+    <th colspan="1"> </th>
+    <th colspan="3">FMU Pins</th>
+  </tr>
+  <tr><td> Name </td><td> Value </td><td> Option </td><td>  </td><td> Name </td><td> Value </td><td> Option </td></tr>
+  <tr><td> M1 </td><td> 101 </td> <td> MainOut1 </td><td>  </td><td> A9 </td><td> 50 </td><td> AuxOut1 </td></tr>
+  <tr><td> M2 </td><td> 102 </td> <td> MainOut2 </td><td>  </td><td> A10 </td><td> 51 </td><td> AuxOut2 </td></tr>
+  <tr><td> M3 </td><td> 103 </td> <td> MainOut3 </td><td>  </td><td> A11 </td><td> 52 </td><td> AuxOut3 </td></tr>
+  <tr><td> M4 </td><td> 104 </td> <td> MainOut4 </td><td>  </td><td> A12 </td><td> 53 </td><td> AuxOut4 </td></tr>
+  <tr><td> M5 </td><td> 105 </td> <td> MainOut5 </td><td>  </td><td> A13 </td><td> 54 </td><td> AuxOut5 </td></tr>
+  <tr><td> M6 </td><td> 106 </td> <td> MainOut6 </td><td>  </td><td> A14 </td><td> 55 </td><td> AuxOut6 </td></tr>
+  <tr><td> M7 </td><td> 107 </td> <td> MainOut7 </td><td>  </td><td> A15 </td><td> 56 </td><td>  </td></tr>
+  <tr><td> M8 </td><td> 108 </td> <td> MainOut8 </td><td>  </td><td>  </td><td>  </td><td>  </td></tr>
+</table>
+
+## Battery Monitoring
+The X6_Air flight controller has one six-pin power connectors, supporting CAN interface power supply.
+This is set by default in the firmware and shouldn't need to be adjusted.
+
+## Compass
+The X6_Air flight controller built-in industrial-grade electronic compass chip IST8310.
+
+## Analog inputs
+The X6_Air flight controller has 2 analog inputs.
+- ADC Pin12 -> ADC 6.6V Sense
+- ADC Pin13 -> ADC 3.3V Sense
+
+## Where to Buy
+https://www.01aero.cn

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/defaults.parm

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+CAN_P1_DRIVER 1
+CAN_P2_DRIVER 1
+
+BATT_MONITOR 8
+

libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the ZeroOneX6_Air Series hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5600
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -Os
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART3
+
+# Pin for PWM Voltage Selection
+PG6 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PI9 IMU1_CS CS
+PH5 ICM45686_CS CS
+PG7  FRAM_CS CS
+PI10 EXT1_CS CS
+
+# telem1
+PE8 UART7_TX UART7
+PF6 UART7_RX UART7
+
+# telem2
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# armed indication
+PE6 nARMED OUTPUT HIGH
+
+# start peripheral power off
+PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN OUTPUT HIGH
+
+# LEDs
+PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# enable DFU by default
+ENABLE_DFU_BOOT 1
+
+# support flashing from SD card:
+# power enable pins
+PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# 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
+
+# microSD support
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
+