AP_HAL_ChibiOS:add vimdrones ap_periph pico and servo hub 4chp

Author: Huibean

Tools/bootloaders/VM-L431-Periph-Pico_bl.bin

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+### VM-L431-Periph-Pico
+
+Vimdrones AP_Periph Pico board to convert serial(GPS) and I2C(COMPASS/Air Speed) device in to Dronecan device.
+
+#### Hardware Features
+
+- STM32L431 microcontroller
+- CAN bus interface
+- 1 Telem with I2C 
+- 1 Telem with Flow Control 
+
+#### Wiring Diagram
+
+![Vimdrones AP_Periph Pico Wiring Diagram](vimdrones_ap_periph_pico_wiring.png)

Tools/bootloaders/VM-L431-Periph-Pico_bl.hex

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+FORMAT_VERSION 2
+CAN_NODE 0 
+CAN_BAUDRATE 1000000

Tools/bootloaders/VM-L431-SRV-Hub-4CHP_bl.bin

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+include ../VM-L431/hwdef-bl.inc

Tools/bootloaders/VM-L431-SRV-Hub-4CHP_bl.hex

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+include ../VM-L431/hwdef.inc
+
+define CAN_APP_NODE_NAME "com.vimdrones.periph_pico"
+SERIAL_ORDER EMPTY USART1 USART2
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+PB4 USART1_CTS USART1
+PB3 USART1_RTS USART1
+
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# one I2C bus
+I2C_ORDER I2C1
+PA9 I2C1_SCL I2C1
+PA10 I2C1_SDA I2C1
+
+define HAL_USE_ADC FALSE 
+
+# GPS / default enable 
+define AP_PERIPH_GPS_ENABLED 1
+define GPS_MAX_RATE_MS 200
+
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+
+define HAL_PERIPH_GPS_PORT_DEFAULT 2 
+
+# Compass / default enable
+define AP_PERIPH_MAG_ENABLED 1
+define HAL_COMPASS_MAX_SENSORS 1
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+define AP_PERIPH_SERIAL_OPTIONS_ENABLED 1
+
+# Rangefinder
+define AP_PERIPH_RANGEFINDER_ENABLED 1
+# disable rangefinder by default
+define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1
+
+# MSP
+define AP_PERIPH_MSP_ENABLED 1
+define HAL_MSP_ENABLED 1
+define AP_PERIPH_MSP_PORT_DEFAULT -1
+
+# ADSB
+define AP_PERIPH_ADSB_ENABLED 1
+define HAL_PERIPH_ADSB_PORT_DEFAULT -1
+
+# BARO
+define AP_PERIPH_BARO_ENABLED 1
+define BARO_MAX_INSTANCES 1
+
+# bootloader embedding / bootloader flashing not available
+define AP_BOOTLOADER_FLASHING_ENABLED 0

libraries/AP_HAL_ChibiOS/hwdef/VM-L431-Periph-Pico/README.md

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+### VM-L431-SRV-Hub-4CHP
+
+Vimdrones CAN Servo Hub peripheral with 4 channels PWM output and 4 channel Servo VCC current measure (4CHP).
+
+#### Hardware Features
+
+- STM32L431 microcontroller
+- CAN bus interface
+- 4 PWM output channels
+- 4 ADC inputs for current sensing
+
+#### Wiring Diagram
+
+![Vimdrones CAN Servo Hub 4CHP Wiring Diagram](vimdrones_can_servo_hub_4chp_wiring.png)