Add the SULILGH7 flight controller board

libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/README.md

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+# SULILGH7P1/P2 Flight Controller
+
+# Our firmware will be compatible with SULILGH7-P1 and SULILGH7-P2.
+
+Got it! Here is the link to your open-source hardware: https://oshwhub.com/shuyedeye/p1-flight-control. Let me know if you need assistance with anything else related to your project!
+
+
+<img src="P1.jpg" alt="" width="400">
+
+## Features:
+- Separate flight control core design.
+- MCU
+   STM32H743IIK6 32-bit processor running at 480MHz
+   2MB Flash
+   1MB RAM
+- IO MCU
+   STM32F103
+- Sensors
+- IMU:
+   P2:Internal Vibration Isolation for IMUs
+   P2:IMU constant temperature heating(1 W heating power).
+   With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
+   IMU1-BMI088(With vibration isolation)
+   IMU2-ICM42688-P(With vibration isolation)
+   IMU3-ICM20689(No vibration isolation)
+- Baro:
+   Two barometers:Baro1-BMP581 , Baro2-ICP20100
+  Magnetometer:   Builtin IST8310 magnetometer
+
+
+## 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   | USART2   |DMA Enabled |
+| SERIAL2 | Telem2   | USART3   |DMA Enabled |
+| SERIAL3 | GPS1     | USART1   |DMA Enabled |
+| SERIAL4 | GPS2     | UART4    |DMA Enabled |
+| SERIAL5 | RC       | UART8    |DMA Enabled |
+| SERIAL7 |FMU DEBUG | USART7   |DMA Enabled |
+| SERIAL8 | OTG-SLCAN| USB      |
+
+## RC Input
+The RCIN pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, will only provide RC without telemetry.
+
+To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL5 (UART8) would need to be used for receiver connections. Below are setups using Serial5.
+
+*  :ref:`SERIAL5_PROTOCOL<SERIAL5_PROTOCOL>`  should be set to “23”.
+* FPort would require [SERIAL5_OPTIONS](https://ardupilot.org/copter/docs/parameters.html#serial6-options) be set to “15”.
+* CRSF would require  :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` be set to “0”.
+* SRXL2 would require  :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>`  be set to “4” and connects only the TX pin.
+
+Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See :ref:`Radio Control Systems <common-rc-systems>` for details.
+
+## PWM Output
+The SULILLGH7-P1/P2 flight controller supports up to 16 PWM outputs.
+First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller.
+The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller.
+All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16.
+
+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 and 8 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> M9 </td><td> 50 </td><td> AuxOut1 </td></tr>
+  <tr><td> M2 </td><td> 102 </td> <td> MainOut2 </td><td>  </td><td> M10 </td><td> 51 </td><td> AuxOut2 </td></tr>
+  <tr><td> M3 </td><td> 103 </td> <td> MainOut3 </td><td>  </td><td> M11 </td><td> 52 </td><td> AuxOut3 </td></tr>
+  <tr><td> M4 </td><td> 104 </td> <td> MainOut4 </td><td>  </td><td> M12 </td><td> 53 </td><td> AuxOut4 </td></tr>
+  <tr><td> M5 </td><td> 105 </td> <td> MainOut5 </td><td>  </td><td> M13 </td><td> 54 </td><td> AuxOut5 </td></tr>
+  <tr><td> M6 </td><td> 106 </td> <td> MainOut6 </td><td>  </td><td> M14 </td><td> 55 </td><td> AuxOut6 </td></tr>
+  <tr><td> M7 </td><td> 107 </td> <td> MainOut7 </td><td>  </td><td> M15 </td><td> 56 </td><td>  </td></tr>
+  <tr><td> M8 </td><td> 108 </td> <td> MainOut8 </td><td>  </td><td> M16 </td><td> 57 </td><td> BB Blue GPo pin 3 </td></tr>
+  <tr><td>  </td><td>  </td> <td>  </td><td>  </td><td> FCU CAP </td><td> 58 </td><td>  </td></tr>
+</table>
+
+## Battery Monitoring
+The P1/P2 flight controllers have 4 power interfaces, two that support I2C and two that support CAN.
+These are set by default in the firmware and shouldn't need to be adjusted.
+
+## Compass
+The P1/P2 flight controllers have an integrated IST8310 high-precision magnetometer.
+
+## Analog inputs
+The P1/P2 flight controller has 2 analog inputs.
+- ADC Pin12 -> ADC 6.6V Sense
+- ADC Pin13 -> ADC 3.3V Sense
+- RSSI input pin = 103
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.
+
+Firmware for these boards can be found [here](https://firmware.ardupilot.org/) in sub-folders labeled “SULIGH7-P1-P2”.

libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/defaults.parm

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+CAN_P1_DRIVER 1
+CAN_P2_DRIVER 1
+
+BATT_MONITOR 8
+GPS1_TYPE

libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for the SULILGH7_P1 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_SULILGH7-P1-P2
+
+# 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
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+env OPTIMIZE -Os
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 USART2 USART3
+
+# 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 ICM20689_CS CS
+PH5 BMP_581_CS CS
+PI4 BMI088_A_CS CS
+PI8 BMI088_G_CS CS
+PH15 ICM_42688_CS CS
+PG7  FRAM_CS CS
+PC2   EXT1_CS CS
+PC3   EXT2_CS CS
+
+# DEBUG
+PE8 UART7_TX UART7
+PE7 UART7_RX UART7
+
+# telem1
+PD5 USART2_TX USART2
+PA3 USART2_RX USART2
+PD4 USART2_RTS USART2
+PD3 USART2_CTS USART2
+
+# telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD12 USART3_RTS USART3
+PD11 USART3_CTS USART3
+
+# LEDs
+PE3 LED_RED OUTPUT OPENDRAIN HIGH # red
+PE4 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green
+
+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
+PG3  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+PG6  VDD_3V3_IMU_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 BOOTLOADER_DEBUG SD7
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1