AP_HAL_ChibiOS: support for MicoAir743-AIO

Update README.md: uses internal esc

Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>

Update README.md: introduction about RC input

Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>

Update README.md: introduction about PWM groups

Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>

remove defaults.parm and defined default params in hwdef file

libraries/AP_HAL_ChibiOS/hwdef/MicoAir743-AIO/README.md

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+# MicoAir743-AIO Flight Controller
+
+The MicoAir743-AIO is a flight controller designed and produced by [MicoAir Tech](http://micoair.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI088/BMI270 dual IMUs
+ - DPS310 barometer
+ - 12V 2A BEC; 5V 2A BEC
+ - MicroSD Card Slot
+ - 7 UARTs
+ - Integrated 4-in-1 AM32 35A ESC, 5 additional PWM outputs, one defaulted as serial LED
+
+ - 1 I2C
+ - 1 SWD
+
+## Physical
+
+![MicoAir H743 AIO Physical Size](MicoAir743-AIO_Physical_Size.jpg)
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (MAVLink2, DMA-enabled)
+ - SERIAL2 -> UART2 (DisplayPort, DMA-enabled)
+ - SERIAL3 -> UART3 (GPS, DMA-enabled)
+ - SERIAL4 -> UART4 (MAVLink2, DMA-enabled)
+ - SERIAL5 -> UART6 (RCIN, DMA-enabled)
+ - SERIAL6 -> UART7 (RX only, ESC Telemetry, DMA-enabled)
+ - SERIAL7 -> UART8 (User, DMA-enabled)
+
+## RC Input
+
+The default RC input is configured on the UART6. The SBus input on the HD VTX connector is tied to RX6.
+
+
+## VTX Support
+
+The SH1.0-6P connector supports a DJI Air Unit / HD VTX connection. Protocol defaults to DisplayPort. Pin 1 of the connector is 12v so be careful not to connect this to a peripheral requiring 5v.
+
+## PWM Output
+
+The MicoAir743-AIO supports up to 9 PWM outputs.
+
+All the channels support DShot.
+
+Channels 1-8 support bi-directional DShot.
+
+PWM outputs are grouped and every group must use the same output protocol:
+
+1, 2, 3, 4 are Group 1;
+
+5, 6 are Group 2;
+
+7, 8, 9 are Group 3;
+
+PWM1-4 are internally tied to the 4-in-1 ESC. PWM 9 is labelled as LED output on the board.
+## Battery Monitoring
+
+The board has internal voltage sensor and current sensor for battery.
+The voltage input should be 3~6S LiPo batteries.
+
+The default battery parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 21.2
+ - BATT_CURR_SCALE 14.14
+
+## Compass
+
+The MicoAir743-AIO does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL connector.
+
+## Mechanical
+
+ - Mounting: 25.5 x 25.5mm, Φ3mm
+ - Dimensions: 36 x 36 x 8 mm
+ - Weight: 10g
+
+## Ports Connector
+
+![MicoAir H743 AIO Ports Connection](MicoAir743-AIO_Ports_Connection.jpg)
+
+## 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 favorite 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/MicoAir743-AIO/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the MicoAir743-AIO hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MicoAir743-AIO
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# 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
+
+
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PA15 BMI270_CS  CS
+PD5  GYRO_CS    CS
+PD4  ACCEL_CS   CS
+
+# LEDs
+PE6 LED_ACTIVITY   OUTPUT LOW #green
+PE4 LED_BOOTLOADER OUTPUT LOW #blue
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/MicoAir743-AIO/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the MicoAir743-AIO hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MicoAir743-AIO
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# flash size
+FLASH_SIZE_KB 2048
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# order of UARTs (and USB)
+SERIAL_ORDER  OTG1 USART1 USART2 USART3 UART4 USART6 UART7 UART8
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# UARTs
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+PE8 UART7_TX UART7
+PE7 UART7_RX UART7
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# two I2C bus
+I2C_ORDER I2C2 I2C1
+
+# I2C1 - CONNECTOR
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2 - BARO
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# PWM output pins
+PE14 TIM1_CH4  TIM1  PWM(1)  GPIO(50) BIDIR
+PE13 TIM1_CH3  TIM1  PWM(2)  GPIO(51)
+PE11 TIM1_CH2  TIM1  PWM(3)  GPIO(52) BIDIR
+PE9  TIM1_CH1  TIM1  PWM(4)  GPIO(53)
+PB1  TIM3_CH4  TIM3  PWM(5)  GPIO(54) BIDIR
+PB0  TIM3_CH3  TIM3  PWM(6)  GPIO(55)
+PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56) BIDIR
+PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)
+
+# LED-pad
+PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58) # M9
+
+# Beeper
+PD15 BUZZER OUTPUT GPIO(59) LOW
+define HAL_BUZZER_PIN 59
+
+# 9 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 9
+
+# LEDs
+PE5 LED_RED   OUTPUT LOW GPIO(0)
+PE6 LED_GREEN OUTPUT LOW GPIO(1)
+PE4 LED_BLUE  OUTPUT LOW GPIO(2)
+
+define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 0
+define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 1
+define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 2
+
+define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+
+# ADC for Power
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# setup for battery
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_VOLT_SCALE 21.12
+define HAL_BATT_CURR_SCALE 14.14
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# barometers
+BARO DPS310 I2C:0:0x76
+
+# microSD support
+PC12 SDMMC1_CK  SDMMC1
+PD2  SDMMC1_CMD SDMMC1
+PC8  SDMMC1_D0  SDMMC1
+PC9  SDMMC1_D1  SDMMC1
+PC10 SDMMC1_D2  SDMMC1
+PC11 SDMMC1_D3  SDMMC1
+define FATFS_HAL_DEVICE SDCD1
+
+# SPI2 - IMUs
+PD3 SPI2_SCK  SPI2
+PC2 SPI2_MISO SPI2
+PC3 SPI2_MOSI SPI2
+PD5  GYRO_CS    CS
+PD4  ACCEL_CS   CS
+PA15 BMI270_CS  CS
+
+# SPI devices
+SPIDEV bmi088_a      SPI2 DEVID1  ACCEL_CS    MODE3  10*MHZ 10*MHZ
+SPIDEV bmi088_g      SPI2 DEVID2  GYRO_CS     MODE3  10*MHZ 10*MHZ
+SPIDEV bmi270        SPI2 DEVID3  BMI270_CS   MODE3   1*MHZ 10*MHZ
+
+# 2 IMUs
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_270
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# setup for serial ports
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MAVLink2
+define DEFAULT_SERIAL4_OPTIONS 1024
+define DEFAULT_SERIAL4_BAUD 115
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 5
+
+# setup for BF migration
+define HAL_FRAME_TYPE_DEFAULT 12