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AP_BoardConfig: disable STLink debug pins by default (4.0 version) 

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 11:13:21 +11:00 committed by Randy Mackay
parent c127919bdd
commit b445971365
3 changed files with 20 additions and 1 deletions
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3
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -244,7 +244,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Board options
// @Description: Board specific option flags
// @Bitmask: 0:Enable hardware watchdog
// @Bitmask: 0:Enable hardware watchdog, 3:Enable Debug Pins
// @User: Advanced
AP_GROUPINFO("OPTIONS", 19, AP_BoardConfig, _options, HAL_BRD_OPTIONS_DEFAULT),
@ -337,6 +337,7 @@ 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

@ -164,6 +164,7 @@ public:
enum board_options {
BOARD_OPTION_WATCHDOG = (1 << 0),
BOARD_OPTION_DEBUG_ENABLE = (1 << 3),
};
// return true if watchdog enabled
@ -210,6 +211,7 @@ 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);

16
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -47,6 +47,22 @@ void AP_BoardConfig::board_init_safety()
}
/*
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()
{
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
}
}
#if AP_FEATURE_BOARD_DETECT
AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;