From 965f11e923d6569939e44a2ae88a387b87586798 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Tue, 31 Aug 2021 23:39:05 +0200
Subject: [PATCH] MRO: Set up MPU after boot to app

This is needed in case the bootloader configured the MPU, which could interfere with the app as the bootloader memory map / configuration is different.
---
 boards/mro/ctrl-zero-h7-oem/src/init.c | 12 ++++++++++++
 boards/mro/ctrl-zero-h7/src/init.c     | 12 ++++++++++++
 boards/mro/pixracerpro/src/init.c      | 12 ++++++++++++
 3 files changed, 36 insertions(+)

diff --git a/boards/mro/ctrl-zero-h7-oem/src/init.c b/boards/mro/ctrl-zero-h7-oem/src/init.c
index a7fd31a20c..02a4a2eb7a 100644
--- a/boards/mro/ctrl-zero-h7-oem/src/init.c
+++ b/boards/mro/ctrl-zero-h7-oem/src/init.c
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
 
+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/mro/ctrl-zero-h7/src/init.c b/boards/mro/ctrl-zero-h7/src/init.c
index a7fd31a20c..02a4a2eb7a 100644
--- a/boards/mro/ctrl-zero-h7/src/init.c
+++ b/boards/mro/ctrl-zero-h7/src/init.c
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
 
+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/mro/pixracerpro/src/init.c b/boards/mro/pixracerpro/src/init.c
index 5a5748918b..7085a45233 100644
--- a/boards/mro/pixracerpro/src/init.c
+++ b/boards/mro/pixracerpro/src/init.c
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
 
+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);