Ardupilot on customized PCB containing STM32H753ZI

I want to use ardupilot to work on customized PCB containing STM32H753ZI can we update the script code to interface sensor with STM32H753ZI. I am beginner for using ardupilot and want to configure it for STM32H753ZI. if anyone has helping material please share it with me.

There is the hardware porting guide

please guide me how to build the task right now i am trying to trying to produce .bin file by running the task in VS code on each turn i found this message in terminal viewer “No ardupilot task found”. It seems i do not know how to create a ardupilot task i Visual Code studio.

anyone tell me how i can solve this issue i am Visual Code studio and i want to execute ardupilot example code as they provided on github repository. i followed all instruction to run the task but i am facing this issue.
“No Ardupilot task found Go back”

i configure cube Orange in VS terminal using Wsl and it shows me.

"Setting top to : /mnt/c/Users/PC/Downloads/ardupilot-master/ardupilot-master/ardupilot
Setting out to : /mnt/c/Users/PC/Downloads/ardupilot-master/ardupilot-master/ardupilot/build
Autoconfiguration : enabled
Checking for program ‘python’ : /usr/bin/python3
Checking for python version >= 3.6.9 : 3.12.3
Setting board to : CubeOrange
Using toolchain : arm-none-eabi

in terminal i put this command

Tasks: Run Task
ardupilot
and i am facing this error
“No Ardupilot task found Go back”