hwdef: added NxtPX4v2

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HWDEF Remove: define HAL_GPIO_LED_OFF 0

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libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/README.md

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+# NxtPX4v2 Flight Controller
+
+The NxtPX4v2 is an open-source hardware designed and maintened by [HKUST UAV-Group](https://github.com/HKUST-Aerial-Robotics/Nxt-FC). And it is produced by [MicoAir Tech.](http://micoair.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI088+BMI088(DUAL) IMU
+ - SPL06 barometer
+ - 12V 2.5A BEC; 5V 2.5A BEC
+ - SDCard
+- 7x UART
+- 8x PWM
+- 1x I2C
+- 1x SPI
+- 1x SWD
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (MAVLink2, DMA-enabled)
+ - SERIAL2 -> UART4 (MAVLink2, DMA-enabled)
+ - SERIAL3 -> UART1 (GPS, DMA-enabled)
+ - SERIAL4 -> UART3 (VTX-HD, DMA-enabled)
+ - SERIAL5 -> UART7 (ESC Telemetry, DMA-enabled)
+ - SERIAL6 -> UART5 (RCIN, DMA-enabled)
+ - SERIAL7 -> UART8 (DMA-enabled)
+
+## RC Input
+
+The default RC input is configured on the UART5. The SBUS pin is inverted and connected to RX5. Non SBUS,  single wire serial inputs can be directly tied to RX5 if SBUS pin is left unconnected. RC could  be applied instead at a different UART port such as UART2, UART4 or UART8, and set the protocol to receive RC data: `SERIALn_PROTOCOL=23` and change SERIAL6 _Protocol to something other than '23'
+
+## 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 NxtPX4v2 supports up to 8 PWM outputs. All channels support bi-directional DShot.
+
+PWM outputs are grouped and every group must use the same output protocol:
+
+1, 2, 3, 4 are Group1;
+
+5, 6 are Group 2;
+
+7, 8 are Group 3;
+
+## 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 4
+ - BATT_CURR_PIN 8
+ - BATT_VOLT_MULT 10.2
+ - BATT_CURR_SCALE 20.4
+
+## Compass
+
+The NxtPX4v2 does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL connector.
+
+## GPIOs
+
+The remaining 3 outputs (labelled AUX1 to AUX3) are the "auxiliary" outputs. These are directly attached to the STM32H743.
+
+The numbering of the GPIOs for PIN variables in ardupilot is:
+
+ - AUX1 - PA4 - 81
+ - AUX2 - PC1 - 82
+ - AUX3 - PC0 - 83
+
+## Physical
+
+ - Mounting: 20 x 20mm, Φ3mm
+- Dimensions: 27 x 32 x 8 mm
+- Weight: 6.5g
+
+## Ports Connector
+
+![NxtPX4v2 Front View](NxtPX4v2_FrontView.jpg)
+
+![NxtPX4v2 Back View](NxtPX4v2_BackView.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/NxtPX4v2/defaults.parm

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+#BATTERY MONITOR ON
+BATT_MONITOR 4
+
+#Serial Port defaults
+SERIAL4_PROTOCOL 42
+SERIAL5_PROTOCOL 16
+SERIAL6_PROTOCOL 23
+
+#MSP DisplayPort enable
+OSD_TYPE 5

libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the NxtPX4v2 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_NxtPX4v2
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# 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
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PA3 BMI088_1_G_CS CS
+PA2 BMI088_1_A_CS CS
+PC2 BMI088_2_G_CS CS
+PC13 BMI088_2_A_CS CS
+
+# LEDs
+PD11 LED_ACTIVITY   OUTPUT HIGH GPIO(91)  #green
+PB15 LED_BOOTLOADER OUTPUT HIGH GPIO(92)  #blue
+define HAL_LED_ON 1

libraries/AP_HAL_ChibiOS/hwdef/NxtPX4v2/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the NxtPX4v2 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_NxtPX4v2
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# 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 USART2 UART4 USART1 USART3 UART7 UART5 UART8
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PD0 VBUS INPUT OPENDRAIN
+
+# GPS1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# TELEM1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+
+# DJI O3
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# TELEM2
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+
+# RC_INPUT
+PB13 UART5_TX UART5
+PB12 UART5_RX UART5
+PD14 SBUS_INV OUTPUT LOW
+
+# ESC
+PE7 UART7_RX UART7
+
+# TELEM3
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# two I2C bus
+I2C_ORDER I2C1 I2C4
+
+# I2C1 - baro
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C4 - CONNECTOR
+PD12 I2C4_SCL I2C4
+PD13 I2C4_SDA I2C4
+
+# PWM output pins
+PE9  TIM1_CH1 TIM1  PWM(1) GPIO(50) BIDIR
+PE11 TIM1_CH2 TIM1  PWM(2) GPIO(51)
+PE13 TIM1_CH3 TIM1  PWM(3) GPIO(52) BIDIR
+PE14 TIM1_CH4 TIM1  PWM(4) GPIO(53)
+PB10 TIM2_CH3 TIM2  PWM(5) GPIO(54) BIDIR
+PB11 TIM2_CH4 TIM2  PWM(6) GPIO(55)
+PB0  TIM3_CH3 TIM3  PWM(7) GPIO(56) BIDIR
+PB1  TIM3_CH4 TIM3  PWM(8) GPIO(57)
+
+# GPIOs
+PA4 PINIO1 OUTPUT GPIO(81) LOW
+PC1 PINIO2 OUTPUT GPIO(82) LOW
+PC0 PINIO3 OUTPUT GPIO(83) LOW
+
+# LEDs
+PD15 LED_RED   OUTPUT HIGH GPIO(90)
+PD11 LED_GREEN OUTPUT HIGH GPIO(91)
+PB15 LED_BLUE  OUTPUT HIGH GPIO(92)
+
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 91
+define HAL_GPIO_C_LED_PIN 92
+
+define HAL_GPIO_LED_ON 1
+define HAL_HAVE_PIXRACER_LED
+
+# ADC for Power
+PC4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC5 BATT_CURRENT_SENS ADC2 SCALE(1)
+
+define HAL_BATT_VOLT_PIN 4
+define HAL_BATT_CURR_PIN 8
+define HAL_BATT_VOLT_SCALE 10.2
+define HAL_BATT_CURR_SCALE 20.4
+
+# 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
+
+# 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
+
+# SPI1 - IMU0
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA3 BMI088_1_G_CS CS
+PA2 BMI088_1_A_CS CS
+
+# SPI3 - CONNECTOR
+PB3 SPI3_SCK  SPI3
+PB4 SPI3_MISO SPI3
+PB2 SPI3_MOSI SPI3
+
+# SPI4 - IMU1
+PE6 SPI4_MOSI SPI4
+PE2 SPI4_SCK  SPI4
+PE5 SPI4_MISO SPI4
+PC2 BMI088_2_G_CS CS
+PC13 BMI088_2_A_CS CS
+
+# barometers
+BARO SPL06 I2C:0:0x77
+
+# SPI devices
+SPIDEV imu0_a      SPI1 DEVID1  BMI088_1_A_CS    MODE3  10*MHZ 10*MHZ
+SPIDEV imu0_g      SPI1 DEVID2  BMI088_1_G_CS    MODE3  10*MHZ 10*MHZ
+SPIDEV imu1_a      SPI4 DEVID3  BMI088_2_A_CS    MODE3  10*MHZ 10*MHZ
+SPIDEV imu1_g      SPI4 DEVID4  BMI088_2_G_CS    MODE3  10*MHZ 10*MHZ
+
+# 2 IMUs
+IMU BMI088 SPI:imu0_a SPI:imu0_g ROTATION_ROLL_180_YAW_90
+IMU BMI088 SPI:imu1_a SPI:imu1_g ROTATION_ROLL_180_YAW_90
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"