HAL_ChibiOS: add support for PilotGaeaSH7V1-bdshot

libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1-bdshot/README.md

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+# PilotGaeaSH7V1-bdshot Flight Controller
+
+The PilotGaeaSH7V1-bdshot is a flight controller designed and produced by PilotGaea.
+
+## Features
+
+- STM32H743 microcontroller
+- Dual ICM42688P IMUs (on SPI1 and SPI4)
+- DPS310 barometer
+- AT7456E OSD
+- MicroSD card slot
+- Dual camera input with switching support
+- 1x USB (Type-C)
+- 5.5 UARTs (UART7 with CTS/RTS flow control)
+- 11 PWM / Dshot outputs (8 with Bi-directional DShot support)
+- 2x I2C (I2C2 internal, I2C1 external)
+- 1x CAN bus
+- 5 ADC inputs (Battery Voltage, Current, BATT2 Voltage, BATT2 Current, RSSI)
+- 5V/1.5A BEC for main power supply
+- 8V/1.5A BEC for powering Video Transmitter
+
+## Mechanical
+
+- Dimensions: 36 x 36 x 17 mm
+- Weight: 10.5g
+
+## Physical and pinout
+
+![PilotGaeaSH7V1-bdshot front view](./PilotGaea_front_view_Pin.jpg)
+
+![PilotGaeaSH7V1-bdshot rear view](./PilotGaea_rear_view_Pin.jpg)
+
+## Power supply
+
+The PilotGaeaSH7V1-bdshot supports 3-8s Li battery input. It has 2 ways of BEC, which result in 3 ways of power supplies. Please see the table below.
+
+| Power symbol | Power source | Max power (current) |
+| :--- | :--- | :--- |
+| BAT | directly from battery | |
+| 5V | from 5V BEC | 7.5W (1.5A) |
+| 8V | from 8V BEC, controlled by MCU | 12W (1.5A) |
+| 4V5 | from USB or 5V BEC, diodes isolate the two powers | 4.7W (1A) |
+
+## UART Mapping
+
+The UARTs are marked RXn and TXn in the above pinouts. The RXn pin is the receive pin for UARTn. The TXn pin is the transmit pin for UARTn.
+
+| ArduPilot Serial | Hardware UART | Default Function | DMA Support |
+| :--- | :--- | :--- | :--- |
+| SERIAL0 | OTG1 | USB | No |
+| SERIAL1 | UART7(CTS/RTS) | Telem 1 | Yes |
+| SERIAL2 | USART1 | Telem 2 | Yes |
+| SERIAL3 | USART2 | GPS | Yes |
+| SERIAL4 | EMPTY | None | N/A |
+| SERIAL5 | UART8 | ESC Telem | No (NODMA) |
+| SERIAL6 | UART4 | MSP/DisplayPort | No (NODMA) |
+| SERIAL7 | USART6 | RCIN | Yes |
+
+> **NOTE:** Telem function is MAVLINK2 protocol. Any UART can be re-tasked by changing its protocol parameter.
+
+## RC Input
+
+The default RC input is configured on USART6 and supports all RC protocols except PPM. The SBUS pin is hardware-inverted and connected to the RX6 pin.
+
+RC input can be attached to any UART port. To reassign it:
+
+1. Set the target port protocol to RC input (e.g., `SERIALn_PROTOCOL` = 23).
+2. Change `SERIAL6_PROTOCOL` to a different protocol (e.g., -1 or 2) to avoid resource conflicts.
+
+## OSD Support
+
+The PilotGaeaSH7V1-bdshot Supports onboard analog OSD using the AT7456 chip. The composited image is output via the VTX pin.  Simultaneous HD VTX DisplayPort is supported via SERIAL6.
+
+## PWM Output and DShot
+
+The PilotGaeaSH7V1-bdshot supports up to **11 physical PWM outputs**, organized into **6 independent timer groups**. All groups support DShot, but **Bi-directional DShot (BDShot)** is fully optimized for **Groups 1-4 (Outputs 1-8)**.
+
+### PWM Grouping Table
+
+| Group | PWM Output | Timer | BDShot Support | Recommended Use |
+| :--- | :--- | :--- | :--- | :--- |
+| **1** | 1, 2 | TIM3 | **Full (DMA)** | Motors 1-2 (BDShot) |
+| **2** | 3, 4 | TIM2 | **Full (DMA)** | Motors 3-4 (BDShot) |
+| **3** | 5, 6 | TIM5 | **Full (DMA)** | Motors 5-6 (BDShot) |
+| **4** | 7, 8 | TIM4 | **Full (DMA)** | Motors 7-8 (BDShot) |
+| **5** | 13 | TIM1 | **Yes (DMA)*** | NeoPixel / LED (Default) |
+| **6** | 11, 12 | TIM15 | No, only can be PWM | Auxiliary / Servos |
+
+### Bi-directional DShot Configuration
+
+To use BDShot for RPM filtering, you must flash the `PilotGaeaSH7V1-bdshot` firmware.
+
+- **Outputs 1-8:** Fully optimized with dedicated DMA streams and `TIMx_UP` support for stable DShot600 and bi-directional RPM telemetry.
+- **Outputs 9-12:** Configured with `NODMA`. These can only be used for standard PWM (servos) or GPIOs; they do not support DShot or RPM telemetry.
+- **Output 13:** Supports DMA but is pre-configured for Serial LED.
+
+> **Note:** PWM 9 and 10 are defined in firmware but not physically broken out on the board.
+>
+> **Note:** **PWM 13 (Group 5)** supports DMA, but is pre-configured for Serial LED ( `NTF_LED_TYPES` = **455** ) in default parameters to support onboard status lighting.
+>
+> **Important:** Every output within a timer group must use the same protocol (e.g., Output 3 & 4 must both be DShot or PWM).
+
+## Battery Monitoring
+
+The PilotGaeaSH7V1-bdshot features high-voltage monitoring capabilities, supporting up to 8S LiPo on both sensors. Notably, **BATT2** is optimized with a higher divider ratio for enhanced voltage range support.
+
+### Primary Battery (BATT)
+
+- `BATT_MONITOR`: **4** (Analog Voltage and Current)
+- `BATT_VOLT_PIN`: **10**
+- `BATT_CURR_PIN`: **11**
+- `BATT_VOLT_MULT`: **11.0**
+- `BATT_AMP_PERVLT`: **40.0**
+
+### Secondary Battery (BATT2)
+
+To enable the second monitor, set the parameters below and **reboot** the flight controller:
+
+- `BATT2_MONITOR`: **4**
+- `BATT2_VOLT_PIN`: **18**
+- `BATT2_CURR_PIN`: **7**
+- `BATT2_VOLT_MULT`: **21.0**
+- `BATT2_AMP_PERVLT`: **40.0**
+
+## Compass
+
+The PilotGaeaSH7V1-bdshot has no built-in compass, so if needed, you should use an external compass.
+
+## Analog cameras
+
+The PilotGaeaSH7V1-bdshot supports up to 2 cameras, connected to pin C1 and C2. You can select the video signal to VTX from camera by an RC channel. Set the parameters below:
+
+- `RELAY2_FUNCTION`: **1**
+- `RELAY_PIN2`: **82** (PinIO 2)
+- `RC8_OPTION`: **34** (Relay2 On/Off)
+
+## 8V switch
+
+The 8V power supply can be controlled by an RC channel. Set the parameters below:
+
+- `RELAY1_FUNCTION`: **1**
+- `RELAY_PIN`: **81** (PinIO 1)
+- `RC7_OPTION`: **28** (Relay On/Off)
+
+## Loading Firmware
+
+The firmware target name is **`PilotGaeaSH7V1-bdshot`**.
+
+### Initial Flash (DFU Mode)
+
+If you are flashing this board for the first time or recovering from a corrupted bootloader, use DFU mode:
+
+1. Connect the USB cable to your PC while holding down the physical **bootloader button**.
+2. Use a DFU loading tool (such as **STM32CubeProgrammer** or **Betaflight Configurator**) to load the `PilotGaeaSH7V1-bdshot_with_bl.hex` file.
+3. Once the flashing process is complete, the board will reboot into ArduPilot.
+
+### Firmware Updates
+
+For subsequent updates once the bootloader is present:
+
+- **GCS Update:** Use Mission Planner or QGroundControl to upload the `PilotGaeaSH7V1-bdshot.apj` file.
+- **SD Card Update:** Alternatively, place the `latest.bin` or `firmware.bin` on the root of the MicroSD card to utilize the onboard auto-update feature.

libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1-bdshot/defaults.parm

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+SERVO13_FUNCTION 120
+
+OSD_TYPE2 5

libraries/AP_HAL_ChibiOS/hwdef/PilotGaeaSH7V1-bdshot/hwdef-bl.dat

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+# hw definition file for processing by chibios_pins.py
+# for PilotGaea SH743-V1 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_PilotGaeaSH7V1
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts 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
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 UART7
+
+# PA10 IO-debug-console
+# PA11, PA12 for USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# make sure Vsw is on during bootloader
+PD10  PINIO1 OUTPUT LOW GPIO(80)
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 MAX7456_CS CS
+PE11 IMU3_CS CS
+PD4 EXT_CS1 CS
+PE2 EXT_CS2 CS
+PC13 IMU2_CS CS
+
+