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Fix SD card busy-wait loops that can lock up flight controller #11321

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Fix SD card busy-wait loops that can lock up flight controller #11321

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31bb99e
Fix SD card busy-wait loops that can lock up flight controller
sensei-hacker Feb 9, 2026
321e8e6
Add error handling when SDIO DMA fails to disable
sensei-hacker Feb 9, 2026
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12 changes: 11 additions & 1 deletion src/main/drivers/sdcard/sdcard_spi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,17 @@ static void sdcardSpi_deselect(void)
// As per the SD-card spec, give the card 8 dummy clocks so it can finish its operation
//spiTransferByte(SDCARD_SPI_INSTANCE, 0xFF);

while (busIsBusy(sdcard.dev)) { __NOP(); }
int timeout = 100000;
while (busIsBusy(sdcard.dev)) {
if (timeout-- == 0) {
sdcard.failureCount++;
if (sdcard.failureCount >= SDCARD_MAX_CONSECUTIVE_FAILURES) {
sdcard.state = SDCARD_STATE_NOT_PRESENT;
}
break;
}
__NOP();
}

busDeselectDevice(sdcard.dev);
}
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20 changes: 19 additions & 1 deletion src/main/drivers/sdcard/sdmmc_sdio_f4xx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -549,7 +549,13 @@ static void SD_StartBlockTransfert(uint32_t* pBuffer, uint32_t BlockSize, uint32
}

pDMA->CR &= ~DMA_SxCR_EN; // Disable the Peripheral
while (pDMA->CR & DMA_SxCR_EN);
int dmaTimeout = 10000;
while ((pDMA->CR & DMA_SxCR_EN) && dmaTimeout-- > 0);

if (pDMA->CR & DMA_SxCR_EN) {
SD_Handle.TransferError = SD_DATA_TIMEOUT;
return;
}

pDMA->NDTR = (uint32_t) (BlockSize * NumberOfBlocks) / 4; // Configure DMA Stream data length
pDMA->M0AR = (uint32_t) pBuffer; // Configure DMA Stream memory address
Expand Down Expand Up @@ -1014,7 +1020,11 @@ SD_Error_t SD_HighSpeed(void)
return ErrorState;
}

uint32_t swTimeout = SD_DATATIMEOUT;
while ((SDIO->STA & (SDIO_STA_RXOVERR | SDIO_STA_DCRCFAIL | SDIO_STA_DTIMEOUT | SDIO_STA_DBCKEND)) == 0) {
if (swTimeout-- == 0) {
break;
}
if ((SDIO->STA & SDIO_STA_RXFIFOHF) != 0) {
for(Count = 0; Count < 8; Count++) {
*(Buffer + Count) = SDIO->FIFO;
Expand Down Expand Up @@ -1124,7 +1134,11 @@ SD_Error_t SD_GetCardStatus(SD_CardStatus_t* pCardStatus)
}

// Get status data
uint32_t statTimeout = SD_DATATIMEOUT;
while ((SDIO->STA & (SDIO_STA_RXOVERR | SDIO_STA_DCRCFAIL | SDIO_STA_DTIMEOUT | SDIO_STA_DBCKEND)) == 0) {
if (statTimeout-- == 0) {
break;
}
if ((SDIO->STA & SDIO_STA_RXFIFOHF) != 0) {
for(Count = 0; Count < 8; Count++) {
Status[Count] = SDIO->FIFO;
Expand Down Expand Up @@ -1318,7 +1332,11 @@ static SD_Error_t SD_FindSCR(uint32_t *pSCR)

// Send ACMD51 SD_APP_SEND_SCR with argument as 0
if ((ErrorState = SD_TransmitCommand((SD_CMD_SD_APP_SEND_SCR | SD_CMD_RESPONSE_SHORT), 0, 1)) == SD_OK) {
uint32_t scrTimeout = SD_DATATIMEOUT;
while ((SDIO->STA & (SDIO_STA_RXOVERR | SDIO_STA_DCRCFAIL | SDIO_STA_DTIMEOUT | SDIO_STA_DBCKEND)) == 0) {
if (scrTimeout-- == 0) {
break;
}
if ((SDIO->STA & SDIO_STA_RXDAVL) != 0) {
*(tempscr + Index) = SDIO->FIFO;
Index++;
Expand Down