AP_HAL_ChibiOS: refresh SD crash dump hardware state

libraries/AP_HAL_ChibiOS/CrashDump_SD.cpp

@@ -708,6 +708,7 @@ static void spi_prepare_peripheral()
     bouncebuffer_abort(sd_spi_bouncebuffer);
     sd_spi_device->crashdump_deassert_all_cs();
     spi_configure(sd_spi_low_config1, sd_spi_low_config2);
+    sd_spi_device->crashdump_restore_sck();
 }
 
 static bool spi_reconnect_card()
@@ -1150,6 +1151,35 @@ static bool write_blocks(uint32_t sector, uint32_t blocks)
 
 #endif // CRASHDUMP_SD_SPI
 
+/* Refresh the bounce buffer that normal transfers may have resized. */
+static bool refresh_dma_buffer()
+{
+    struct bouncebuffer_t *bouncebuffer;
+#if CRASHDUMP_SD_SPI
+    bouncebuffer = sd_spi_bouncebuffer;
+#else
+    bouncebuffer = sd_sdcp == nullptr ? nullptr : sd_sdcp->bouncebuffer;
+#endif
+
+    if (bouncebuffer == nullptr) {
+        sd_dma_buf = nullptr;
+        sd_dma_buf_size = 0;
+        return false;
+    }
+
+    uint8_t *const dma_buf = bouncebuffer->dma_buf;
+    const uint32_t size = bouncebuffer->size & ~(MMCSD_BLOCK_SIZE - 1U);
+    if (dma_buf == nullptr || size < MMCSD_BLOCK_SIZE) {
+        sd_dma_buf = nullptr;
+        sd_dma_buf_size = 0;
+        return false;
+    }
+
+    sd_dma_buf = dma_buf;
+    sd_dma_buf_size = size;
+    return true;
+}
+
 static uint32_t accumulator_capacity()
 {
     uint32_t sector;
@@ -1404,7 +1434,7 @@ uint32_t crashdump_sd_max_size()
 
 bool crashdump_sd_start()
 {
-    if (!sd_is_ready || !sd_fault_write_available || sd_dma_buf == nullptr
+    if (!sd_is_ready || !sd_fault_write_available
 #if CRASHDUMP_SD_SPI
         || sd_mmcp == nullptr || sd_spi_device == nullptr || sd_spip == nullptr
 #else
@@ -1419,6 +1449,9 @@ bool crashdump_sd_start()
     if (!abort_transfer()) {
         return false;
     }
+    if (!refresh_dma_buffer()) {
+        return false;
+    }
 
     sd_write_offset = 0;
     accumulator_offset = 0;

libraries/AP_HAL_ChibiOS/SPIDevice.cpp

@@ -414,9 +414,7 @@ void SPIBus::start_peripheral(void)
     spi_started = true;
 }
 
-/*
-  restore the SPI clock and SCK pin without using RTOS or DMA services
- */
+/* restore the SPI clock without using RTOS or DMA services */
 void SPIBus::crashdump_prepare_peripheral(void)
 {
     const auto &sbus = spi_devices[bus];
@@ -450,8 +448,13 @@ void SPIBus::crashdump_prepare_peripheral(void)
         rccEnableSPI6(true);
     }
 #endif
+}
+
+/* restore SCK after the crash dump path has configured the SPI peripheral */
+void SPIBus::crashdump_restore_sck(void)
+{
 #if HAL_SPI_SCK_SAVE_RESTORE
-    palSetLineMode(sbus.sck_line, sck_mode);
+    palSetLineMode(spi_devices[bus].sck_line, sck_mode);
 #endif
 }
 

libraries/AP_HAL_ChibiOS/SPIDevice.h

@@ -56,6 +56,7 @@ public:
 
     // restore hardware state needed by the polled crash dump path
     void crashdump_prepare_peripheral(void);
+    void crashdump_restore_sck(void);
 
 private:
     bool spi_started;
@@ -156,6 +157,10 @@ public:
     {
         bus.crashdump_prepare_peripheral();
     }
+    void crashdump_restore_sck()
+    {
+        bus.crashdump_restore_sck();
+    }
 
     ioline_t get_chip_select_line() const { return device_desc.pal_line; }
     struct bouncebuffer_t *prepare_crashdump_buffer(uint32_t size) {