Problem with hwdef.dat for a custom STM32H743VIH6 board

ArduCopter Copter 4.0
1

Hello,
I have designed my own board using an STM32H743VIH6 based on the MicoAir743 and NxtPX4v2.

Now I wanted to upload ardupilot to the board. I have written a minumum hwdef.dat file wich compiles. But after uploading and connecting with Missionplanner i get an config error: INS unable to initilize driver message.
Minimum HWDEF

hwdef(_dat).txt (784 Bytes)

I also wrote the following Bootloader hwdef:
hwdef-bl_dat.txt (876 Bytes)

Now the question is: Is there an obvious error in my config files or how should i proceed to debug the issue?

2

I solved my issue by including the code for an IMU.
hwdef:

# hw definition file for processing by chibios_hwdef.py
# for the AeroCore hardware

# MCU class and specific type
MCU STM32H7xx STM32H743xx

# board ID for firmware load
APJ_BOARD_ID 2001

# crystal frequency
OSCILLATOR_HZ 8000000

# 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 USART1 

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1


# GPS1
PA9  USART1_TX USART1
PA10 USART1_RX USART1


# ADC for Power
PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC1 BATT_CURRENT_SENS ADC1 SCALE(1)

# SPI1 - IMU1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
PB12 ICM_42688_1_CS CS

SPIDEV imu1      SPI1 DEVID1  ICM_42688_1_CS    MODE3  2*MHZ 10*MHZ

IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180

define HAL_BARO_ALLOW_INIT_NO_BARO