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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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