added nrf54l15 as target

boards/nucleo_h563zi.conf

@@ -0,0 +1,24 @@
+# usb
+CONFIG_UART_LINE_CTRL=y
+CONFIG_USBD_CDC_ACM_CLASS=y
+CONFIG_USB_DEVICE_STACK_NEXT=y
+CONFIG_USBD_CDC_ACM_WORKQUEUE=y
+CONFIG_UDC_WORKQUEUE=y
+CONFIG_UDC_STM32=y
+CONFIG_UDC_STM32_STACK_SIZE=2048
+CONFIG_UDC_WORKQUEUE_STACK_SIZE=2048
+
+# can FD
+#CONFIG_CAN=y
+#CONFIG_CAN_FD_MODE=y
+#CONFIG_CAN_STM32_FDCAN=y
+
+# timer
+CONFIG_COUNTER_TIMER_STM32=y
+
+# Microros
+CONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
+#CONFIG_MICROROS_TRANSPORT_FDCAN=y
+
+# i2c
+CONFIG_I2C_STM32=y

boards/nucleo_h563zi.overlay

@@ -1,8 +1,6 @@
 / {
     aliases {
         led0 = &red_led_1;
-        led1 = &yellow_led_1;
-        led2 = &green_led_1;
 
         rotenc0 = &as5600;
         stepper0 = &stepper0;

boards/xiao_nrf54l15_nrf54l15_cpuapp.conf

@@ -0,0 +1,12 @@
+# timer
+CONFIG_NRFX_GRTC=y
+
+# Microros
+CONFIG_MICROROS_TRANSPORT_SERIAL=y
+
+# i2c
+#CONFIG_I2C_NRF=y
+
+# optional / recommended
+CONFIG_SYS_CLOCK_EXISTS=y
+CONFIG_CLOCK_CONTROL=y

boards/xiao_nrf54l15_nrf54l15_cpuapp.overlay

@@ -0,0 +1,60 @@
+/ {
+    aliases {
+        led0 = &led0;
+        rotenc0 = &as5600;
+        stepper0 = &stepper0;
+    };
+
+	chosen {
+		uros,uart = &uart20;
+		pid,counter = &timer00;
+
+		zephyr,console = &uart21;
+		zephyr,shell-uart = &uart21;
+		nordic,rpc-uart = &uart21;
+	};
+
+    stepper0: tmc2209_motor {
+        compatible = "adi,tmc2209";
+
+        en-gpios = <&gpio1 4 GPIO_ACTIVE_LOW>;
+        msx-gpios = <&gpio1 5 GPIO_ACTIVE_HIGH>,
+                    <&gpio1 6 GPIO_ACTIVE_HIGH>;
+        step-gpios = <&gpio2 1 GPIO_ACTIVE_HIGH>;
+        dir-gpios = <&gpio2 4 GPIO_ACTIVE_HIGH>;
+        //dual-edge-step;
+        micro-step-res = <64>;
+        counter = <&timer10>;
+        status = "okay";
+    };
+};
+
+&timer00 {
+	status = "okay";
+};
+
+&timer10 {
+	status = "okay";
+};
+
+&uart20 {
+	status = "okay";
+    current-speed = <921600>;
+};
+
+&uart21 {
+	status = "okay";
+    current-speed = <115200>;
+};
+
+&i2c30 {
+    status = "okay";
+    clock-frequency = <I2C_BITRATE_FAST>;
+
+    as5600: as5600@36 {
+        compatible = "ams,as5600";
+        reg = <0x36>;   // I2C address of AS5600
+        label = "AS5600";
+		status = "okay";
+    };
+};