HAL_ChibiOS: stop sdcard interface on reboot

libraries/AP_HAL_ChibiOS/Scheduler.cpp

@@ -30,6 +30,7 @@
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include "shared_dma.h"
+#include "sdcard.h"
 
 #if CH_CFG_USE_DYNAMIC == TRUE
 
@@ -241,6 +242,9 @@ void Scheduler::reboot(bool hold_in_bootloader)
     hal.rcout->force_safety_on();
     hal.rcout->force_safety_no_wait();
 
+    // stop sdcard driver, if active
+    sdcard_stop();
+    
     // lock all shared DMA channels. This has the effect of waiting
     // till the sensor buses are idle
     Shared_DMA::lock_all();

libraries/AP_HAL_ChibiOS/sdcard.cpp

@@ -94,6 +94,10 @@ void sdcard_init()
  */
 void sdcard_stop(void)
 {
+#ifdef USE_POSIX
+    // unmount
+    f_mount(nullptr, "/", 1);
+#endif
 #if HAL_USE_MMC_SPI
     if (sdcard_running) {
         mmcDisconnect(&MMCD1);