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AP_BoardConfig: disable STLink debug pins by default 

this avoids leaving the debug pins in a state where they may be
vulnerable to ESD issues
This commit is contained in:
Andrew Tridgell 2021-12-18 11:28:09 +11:00
parent e8c7b63713
commit 3dc4cdd6af
3 changed files with 22 additions and 1 deletions
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3
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -269,7 +269,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Board options
// @Description: Board specific option flags
// @Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters
// @Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins
// @User: Advanced
AP_GROUPINFO("OPTIONS", 19, AP_BoardConfig, _options, HAL_BRD_OPTIONS_DEFAULT),
@ -362,6 +362,7 @@ void AP_BoardConfig::set_default_safety_ignore_mask(uint16_t mask)
void AP_BoardConfig::init_safety()
{
board_init_safety();
board_init_debug();
}
/*

2
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -176,6 +176,7 @@ public:
BOARD_OPTION_WATCHDOG = (1 << 0),
DISABLE_FTP = (1<<1),
ALLOW_SET_INTERNAL_PARM = (1<<2),
BOARD_OPTION_DEBUG_ENABLE = (1<<3),
};
// return true if ftp is disabled
@ -237,6 +238,7 @@ private:
#endif // AP_FEATURE_BOARD_DETECT
void board_init_safety(void);
void board_init_debug(void);
void board_setup_uart(void);
void board_setup_sbus(void);

18
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -46,6 +46,24 @@ void AP_BoardConfig::board_init_safety()
#endif
}
/*
init debug pins. We set debug pins as input if BRD_OPTIONS bit for debug enable is not set
this prevents possible ESD issues on the debug pins
*/
void AP_BoardConfig::board_init_debug()
{
#ifndef HAL_BUILD_AP_PERIPH
if ((_options & BOARD_OPTION_DEBUG_ENABLE) == 0) {
#ifdef HAL_GPIO_PIN_JTCK_SWCLK
palSetLineMode(HAL_GPIO_PIN_JTCK_SWCLK, PAL_MODE_INPUT);
#endif
#ifdef HAL_GPIO_PIN_JTMS_SWDIO
palSetLineMode(HAL_GPIO_PIN_JTMS_SWDIO, PAL_MODE_INPUT);
#endif
}
#endif // HAL_BUILD_AP_PERIPH
}
#if AP_FEATURE_BOARD_DETECT