HAL_ChibiOS: enable ITCM and DTCM on H7 at startup

these may have been disabled by the px4 H7 bootloader
2022-05-13 13:53:03 +10:00 · 2022-05-13 13:53:03 +10:00 · 308717d5eb
parent 7e4da1ef85
commit 308717d5eb
1 changed files with 6 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/board.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/board.c
@ -238,6 +238,12 @@ void __early_init(void) {
  SCB_DisableDCache();
 #endif
 #if defined(STM32H7)
+
+  // ensure ITCM and DTCM are enabled. These could be disabled by the px4
+  // bootloader
+  SCB->ITCMCR |= 1; // ITCM enable
+  SCB->DTCMCR |= 1; // DTCM enable
+
  // disable cache on SRAM4 so we can use it for DMA
  mpuConfigureRegion(MPU_REGION_5,
                     0x38000000U,