Stallman's position on free hardware looks clear to me. As far as I understand, he considers that, today, the freedoms defining "free software" cannot be applied to hardware because no individual can build her own hardware; even less copy some existing hardware. The fact is: we all depend on mass-produced hardware. This will remain so for years or, more probably, decades. Therefore, rms does not bother to consider this problem that has not arisen. When and if it arises, it ought to be understood solved with the new technology that will be then available.

Now, rms cares about "free software" up to the drivers and firmware. That is why he cares about "documented hardware". The documentation is self contained in free drivers/firmware if the manufacturer provides them. Otherwise, the free software must be able to develop those and documentation helps a lot. If no documentation is available, the free software community has to rely on tedious reverse-engineering (a great contribution to achieve). Whatever the way the free drivers/firmware are obtained, the hardware is then, according to rms, freedom respecting: anybody can use it running only free software.

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