From ea37cede282d3b36a6b562f1c6242c548f7f68f1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 26 May 2018 19:00:49 +1000
Subject: [PATCH] HAL_ChibiOS: stop sdcard interface on reboot

---
 libraries/AP_HAL_ChibiOS/Scheduler.cpp | 4 ++++
 libraries/AP_HAL_ChibiOS/sdcard.cpp    | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 24a98419bf..a271d3495b 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/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();
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.cpp b/libraries/AP_HAL_ChibiOS/sdcard.cpp
index 39acff0026..e5ea977c0a 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.cpp
+++ b/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);