From d35fff518649eeb9436865d42b57f2ddb3ccc409 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 10 Mar 2020 09:54:59 +1100 Subject: [PATCH] HAL_ChibiOS: set CS pins high while in bootloader this appears to be the root cause of the parameter resets on CubeOrange. We need to ensure the CS pin is not floating or random noise on the SPI bus for FRAM can cause the FRAM to become corrupt --- .../AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat | 14 ++++++++++++++ .../AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat | 4 ++++ .../AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.dat | 10 ++++++++++ .../AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef-bl.dat | 10 ++++++++++ .../hwdef/DrotekP3Pro/hwdef-bl.dat | 8 ++++++++ .../AP_HAL_ChibiOS/hwdef/Durandal/hwdef-bl.dat | 14 ++++++++++++++ .../hwdef/F35Lightning/hwdef-bl.dat | 5 +++++ libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef-bl.dat | 5 +++++ .../AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef-bl.dat | 5 +++++ .../AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef-bl.dat | 5 +++++ .../hwdef/MatekF405-Wing/hwdef-bl.dat | 5 +++++ .../AP_HAL_ChibiOS/hwdef/MatekF405/hwdef-bl.dat | 6 ++++++ .../hwdef/MatekF765-Wing/hwdef-bl.dat | 6 ++++++ .../AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef-bl.dat | 4 ++++ .../hwdef/OMNIBUSF7V2/hwdef-bl.dat | 7 +++++++ .../hwdef/OmnibusNanoV6/hwdef-bl.dat | 6 ++++++ .../AP_HAL_ChibiOS/hwdef/R9Pilot/hwdef-bl.dat | 7 +++++++ .../AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat | 6 ++++++ .../AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat | 4 ++++ .../AP_HAL_ChibiOS/hwdef/airbotf4/hwdef-bl.dat | 4 ++++ .../AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef-bl.dat | 6 ++++++ .../hwdef/f103-periph/hwdef-bl.dat | 3 +++ .../hwdef/f303-periph/hwdef-bl.dat | 3 +++ .../AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat | 10 ++++++++++ .../AP_HAL_ChibiOS/hwdef/fmuv4/hwdef-bl.dat | 7 +++++++ .../AP_HAL_ChibiOS/hwdef/fmuv5/hwdef-bl.dat | 16 ++++++++++++++++ .../hwdef/mRoControlZeroF7/hwdef-bl.dat | 8 ++++++++ .../AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef-bl.dat | 7 +++++++ .../AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef-bl.dat | 8 ++++++++ .../AP_HAL_ChibiOS/hwdef/mini-pix/hwdef-bl.dat | 5 +++++ .../hwdef/omnibusf4pro/hwdef-bl.dat | 6 ++++++ .../hwdef/omnibusf4v6/hwdef-bl.dat | 6 ++++++ .../AP_HAL_ChibiOS/hwdef/revo-mini/hwdef-bl.dat | 4 ++++ .../AP_HAL_ChibiOS/hwdef/sparky2/hwdef-bl.dat | 4 ++++ .../hwdef/speedybeef4/hwdef-bl.dat | 5 +++++ 35 files changed, 233 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat index 58690ddb4b..bd2d72bfce 100755 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat @@ -49,3 +49,17 @@ define HAL_STORAGE_SIZE 16384 define BOOTLOADER_DEBUG SD7 + +# Add CS pins to ensure they are high in bootloader +PF10 ADIS16470_CS CS +PF2 RM3100_CS CS +PG6 ICM20689_CS CS SPEED_VERYLOW +PI12 ICM20649_CS CS SPEED_VERYLOW +PF3 BMI088_A_CS CS +PF4 BMI088_G_CS CS +PF5 FRAM_CS CS SPEED_VERYLOW +PG10 MS5611_IMU_CS CS +PI8 MS5611_BOARD_CS CS +PI4 EXT1_CS1 CS +PI10 EXT1_CS2 CS +PI6 EXT1_CS3 CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat index 1edd914cc5..4a78933a70 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat @@ -107,3 +107,7 @@ define HAL_BOOTLOADER_TIMEOUT 1000 # reserve 256 bytes for comms between app and bootloader RAM_RESERVE_START 256 + +# Add CS pins to ensure they are high in bootloader +PA4 MAG_CS CS +PA10 MS5611_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.dat index 057f1dde8e..bff75d0566 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.dat @@ -49,3 +49,13 @@ PA14 JTCK-SWCLK SWD define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PC1 MAG_CS CS +PC2 MPU_CS CS +PC13 GYRO_EXT_CS CS +PC14 BARO_EXT_CS CS +PC15 ACCEL_EXT_CS CS +PD7 BARO_CS CS +PE4 MPU_EXT_CS CS +PD10 FRAM_CS CS SPEED_VERYLOW diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef-bl.dat index 493dea280d..78f9047535 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef-bl.dat @@ -68,3 +68,13 @@ FLASH_BOOTLOADER_LOAD_KB 96 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PC1 MAG_CS CS +PC2 MPU_CS CS +PC13 GYRO_EXT_CS CS +PC14 BARO_EXT_CS CS +PC15 ACCEL_EXT_CS CS +PD7 BARO_CS CS +PE4 MPU_EXT_CS CS +PD10 FRAM_CS CS SPEED_VERYLOW diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef-bl.dat index 99abc0f1ba..09d15c7cfe 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef-bl.dat @@ -68,3 +68,11 @@ define HAL_STORAGE_SIZE 16384 # define CH_DBG_ENABLE_CHECKS TRUE # define CH_DBG_SYSTEM_STATE_CHECK TRUE # define CH_DBG_ENABLE_STACK_CHECK TRUE + +# Add CS pins to ensure they are high in bootloader +PC2 MPU9250_CS CS +PC15 20608_CS CS +PD7 BARO_CS CS +PE15 MAG_CS CS +PH5 EEPROM_CS CS +PD10 FRAM_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef-bl.dat index b7d092d939..ce1bc87bb1 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef-bl.dat @@ -50,3 +50,17 @@ PA14 JTCK-SWCLK SWD define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PF10 MS5611_CS CS +PF2 ICM20689_CS CS SPEED_VERYLOW +PF3 ICM20602_CS CS SPEED_VERYLOW +PF4 BMI055_G_CS CS +PG10 BMI055_A_CS CS +PF5 FRAM_CS CS SPEED_VERYLOW +PI4 EXT1_CS1 CS +PI10 EXT1_CS2 CS +PI6 EXT2_CS1 CS +PI7 EXT2_CS2 CS +PI8 EXT2_CS3 CS +PH5 TSENSE_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef-bl.dat index 1cbe116dcb..81f59318b8 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef-bl.dat @@ -45,3 +45,8 @@ PD2 UART5_RX UART5 PC10 LED_BOOTLOADER OUTPUT LOW GPIO(0) define HAL_LED_ON 0 + +# Add CS pins to ensure they are high in bootloader +PC0 MPU9250_CS CS +PA4 OSD_CS CS +PC5 BMP280_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef-bl.dat index d699954458..6c9c9c24fa 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef-bl.dat @@ -43,3 +43,8 @@ define HAL_STORAGE_SIZE 16384 # location of application code FLASH_BOOTLOADER_LOAD_KB 16 + +# Add CS pins to ensure they are high in bootloader +PA4 MPU_CS CS +PB12 FRAM_CS CS SPEED_VERYLOW +PE15 FLASH_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef-bl.dat index 537363cd93..73a6a71d8c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef-bl.dat @@ -34,3 +34,8 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PB14 MAX7456_CS CS +PB3 FLASH_CS CS +PC4 ICM20689_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef-bl.dat index 210b6f0465..f9156b9c82 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef-bl.dat @@ -46,3 +46,8 @@ define HAL_LED_ON 0 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PA4 SDCARD_CS CS +PB12 MAX7456_CS CS +PE4 ICM20689_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef-bl.dat index 5f50ca5e17..5c95b78bb3 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef-bl.dat @@ -49,3 +49,8 @@ PD2 UART5_RX UART5 PA14 LED_BOOTLOADER OUTPUT LOW GPIO(0) PA13 LED_ACTIVITY OUTPUT LOW GPIO(1) # optional define HAL_LED_ON 0 + +# Add CS pins to ensure they are high in bootloader +PA4 MPU_CS CS +PC14 SDCARD_CS CS +PB12 OSD_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef-bl.dat index 4e9ec1c9eb..7ea5290050 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef-bl.dat @@ -36,3 +36,9 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PB10 MAX7456_CS CS +PC1 SDCARD_CS CS +PC0 M25P16_CS CS +PC2 MPU6000_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef-bl.dat index 9dcd9a5e0b..a2686e3803 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef-bl.dat @@ -50,3 +50,9 @@ define HAL_LED_ON 0 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PC4 IMU1_CS CS +PB12 MAX7456_CS CS +PD7 IMU2_CS CS +PE11 SPARE_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef-bl.dat index ffd5a65cd0..72bfb03140 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef-bl.dat @@ -48,3 +48,7 @@ PA14 JTCK-SWCLK SWD define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PA4 MPU_CS CS +PC7 BARO_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef-bl.dat index 8e6077e3c4..a98a4db488 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef-bl.dat @@ -46,3 +46,10 @@ define HAL_USE_EMPTY_STORAGE define HAL_STORAGE_SIZE 16384 define STORAGE_FLASH_PAGE 1 + +# Add CS pins to ensure they are high in bootloader +PA4 MPU6000_CS CS +PA15 MPU6500_CS CS +PB12 MAX7456_CS CS +PE4 SDCARD_CS CS +PA1 BMP280_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef-bl.dat index aa095a851e..9a06df416b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef-bl.dat @@ -38,3 +38,9 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PA4 MPU6000_CS CS +PB12 FLASH_CS CS +PA15 OSD_CS CS +PB3 BMP280_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/R9Pilot/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/R9Pilot/hwdef-bl.dat index 5a12e8fa26..948979d2a3 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/R9Pilot/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/R9Pilot/hwdef-bl.dat @@ -46,3 +46,10 @@ define HAL_LED_ON 0 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PA4 BARO_CS CS +PA1 BARO_CS2 CS +PB12 EXT_CS CS +PA15 IMU_CS CS +PE4 SDCARD_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat index d36b6b19d7..673ca8d6a2 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef-bl.dat @@ -38,3 +38,9 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PA4 ICM20689_1_CS CS +PC3 ICM20689_2_CS CS +PB12 AT7456E_CS CS +PA15 FLASH_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat index 2c73e962b6..8f8e3aab32 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat @@ -125,3 +125,7 @@ PA3 USART2_RX USART2 SPEED_HIGH NODMA UART_ORDER define HAL_STORAGE_SIZE 800 + +# Add CS pins to ensure they are high in bootloader +PA15 BARO_CS CS +PD2 MAG_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef-bl.dat index a5810ea402..a8e4bdf5bc 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/airbotf4/hwdef-bl.dat @@ -38,3 +38,7 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PA4 MPU6000_CS CS +PB3 FLASH_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef-bl.dat index f83360b223..fe19896a95 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef-bl.dat @@ -41,3 +41,9 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PC12 E_CS0 CS +PB4 E_CS1 CS +PB5 E_CS2 CS +PB8 E_CS3 CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef-bl.dat index 7aafa5750f..f1a82cb65e 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef-bl.dat @@ -95,3 +95,6 @@ PB6 STAY_IN_BOOTLOADER INPUT FLOATING # reserve 256 bytes for comms between app and bootloader RAM_RESERVE_START 256 + +# Add CS pins to ensure they are high in bootloader +PB0 MAG_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat index c44bc40455..0b075a786f 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat @@ -100,3 +100,6 @@ RAM_RESERVE_START 256 define HAL_CAN_DEFAULT_NODE_ID 0 define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" + +# Add CS pins to ensure they are high in bootloader +PB0 MAG_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat index 7043d2e289..263e3858dd 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat @@ -83,3 +83,13 @@ define HAL_STORAGE_SIZE 16384 # define CH_DBG_ENABLE_CHECKS TRUE # define CH_DBG_SYSTEM_STATE_CHECK TRUE # define CH_DBG_ENABLE_STACK_CHECK TRUE + +# Add CS pins to ensure they are high in bootloader +PC1 MAG_CS CS +PC2 MPU_CS CS +PC13 GYRO_EXT_CS CS +PC14 BARO_EXT_CS CS +PC15 ACCEL_EXT_CS CS +PD7 BARO_CS CS +PE4 MPU_EXT_CS CS +PD10 FRAM_CS CS SPEED_VERYLOW diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef-bl.dat index fd034c3236..2e01810333 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef-bl.dat @@ -47,3 +47,10 @@ FLASH_BOOTLOADER_LOAD_KB 16 # bootloader loads at start of flash FLASH_RESERVE_START_KB 0 + +# Add CS pins to ensure they are high in bootloader +PC2 MPU9250_CS CS +PC15 20608_CS CS +PD7 BARO_CS CS +PD10 FRAM_CS CS +PE15 MAG_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef-bl.dat index 2f8b54c462..bd5e7ee8c6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef-bl.dat @@ -53,3 +53,19 @@ PA14 JTCK-SWCLK SWD define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PF10 MS5611_CS CS +PF2 ICM20689_CS CS SPEED_VERYLOW +PF3 ICM20602_CS CS SPEED_VERYLOW +PF4 BMI055_G_CS CS +PG10 BMI055_A_CS CS +PF5 FRAM_CS CS SPEED_VERYLOW +PF11 SPARE_CS CS +PH5 AUXMEM_CS CS +PI4 EXTERNAL1_CS1 CS +PI10 EXTERNAL1_CS2 CS +PI11 EXTERNAL1_CS3 CS +PI6 EXTERNAL2_CS1 CS +PI7 EXTERNAL2_CS2 CS +PI8 EXTERNAL2_CS3 CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef-bl.dat index b4220281f9..26fdbb2d07 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef-bl.dat @@ -56,3 +56,11 @@ PA14 JTCK-SWCLK SWD define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PC2 ICM_20602_CS CS +PD7 BARO_CS CS +PD10 FRAM_CS CS SPEED_VERYLOW NODMA +PE15 ICM_20948_CS CS +PF10 BMI088_GYRO_CS CS +PF6 BMI088_ACCEL_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef-bl.dat index ee8f59deaf..ea49861818 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef-bl.dat @@ -73,3 +73,10 @@ FLASH_BOOTLOADER_LOAD_KB 96 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PC1 MAG_CS CS #Not Connected +PC2 MPU_CS CS #MPU9250 +PC15 ACCEL_CS CS #MPU20602 +PD7 BARO_CS CS #MS5611 +PD10 FRAM_CS CS SPEED_VERYLOW diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef-bl.dat index 1ab627eb0b..a455867a4c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef-bl.dat @@ -47,3 +47,11 @@ PA8 LED_BOOTLOADER OUTPUT define HAL_LED_ON 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PB2 GYRO_CS CS +PC15 BARO_CS CS +PD11 ACCEL_MAG_CS CS +PE3 MPU_CS CS +PE12 FRAM_CS CS +PE15 NRF_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef-bl.dat index a07019f3ba..cb04bc9480 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef-bl.dat @@ -39,3 +39,8 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 16384 + +# Add CS pins to ensure they are high in bootloader +PC2 LPS22HB_CS CS +PC15 MPU6500_CS CS +PD10 FRAM_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef-bl.dat index 08c73bde58..299edb8ccf 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef-bl.dat @@ -38,3 +38,9 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PA4 MPU6000_CS CS +PB12 SDCARD_CS CS +PA15 OSD_CS CS +PB3 BMP280_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef-bl.dat index 435e142895..c1279073f9 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef-bl.dat @@ -38,3 +38,9 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PB12 FLASH_CS CS +PA4 MPU6000_CS CS #SPI1_NSS +PA15 OSD_CS CS #SPI3_NSS +PB3 BMP280_CS CS #SPI3_NSS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef-bl.dat index f5bfe0c241..5c98e70b85 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef-bl.dat @@ -39,3 +39,7 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PA4 MPU_CS CS +PB3 FLASH_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef-bl.dat index aa434416b5..1b624d2091 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef-bl.dat @@ -39,3 +39,7 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PC4 MPU_CS CS +PB3 FLASH_CS CS diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef-bl.dat index 3342ad27cd..d73fbeaf74 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef-bl.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef-bl.dat @@ -37,3 +37,8 @@ PA12 OTG_FS_DP OTG1 define HAL_USE_EMPTY_STORAGE 1 define HAL_STORAGE_SIZE 15360 + +# Add CS pins to ensure they are high in bootloader +PB10 MAX7456_CS CS +PC0 FLASH_CS CS +PB11 MPU6000_CS CS