Retry SD card mounting a few times when talking to the card fails

2 files changed, 18 insertions, 6 deletions

diff --git a/src/tangara/system_fsm/running.cpp b/src/tangara/system_fsm/running.cpp
index 33c6c7dc..f065737b 100644
--- a/src/tangara/system_fsm/running.cpp
+++ b/src/tangara/system_fsm/running.cpp
@@ -40,7 +40,7 @@ void Running::entry() {
     sUnmountTimer = xTimerCreate("unmount_timeout", kTicksBeforeUnmount, false,
                                  NULL, timer_callback);
   }
-  events::System().Dispatch(internal::Mount{});
+  events::System().Dispatch(internal::Mount{.attempt = 1});
 }
 
 void Running::exit() {
@@ -72,7 +72,7 @@ void Running::react(const SdDetectChanged& ev) {
   }
 
   if (ev.has_sd_card && !sStorage) {
-    events::System().Dispatch(internal::Mount{});
+    events::System().Dispatch(internal::Mount{.attempt = 1});
     return;
   }
 
@@ -121,7 +121,7 @@ void Running::react(const SamdUsbMscChanged& ev) {
     gpios.WriteSync(drivers::IGpios::Pin::kSdPowerEnable, 0);
 
     // Now it's ready for us.
-    events::System().Dispatch(internal::Mount{});
+    events::System().Dispatch(internal::Mount{.attempt = 1});
   }
 }
 
@@ -146,13 +146,18 @@ auto Running::updateSdState(drivers::SdState state) -> void {
   events::System().Dispatch(SdStateChanged{});
 }
 
-void Running::react(const internal::Mount&) {
+void Running::react(const internal::Mount& ev) {
   // Only mount our storage if we know it's not currently in use by the SAMD.
   if (sServices->samd().UsbMassStorage()) {
     updateSdState(drivers::SdState::kNotMounted);
     return;
   }
 
+  if (ev.attempt > 3) {
+    updateSdState(drivers::SdState::kNotPresent);
+    return;
+  }
+
   ESP_LOGI(kTag, "mounting sd card");
   auto storage_res = drivers::SdStorage::Create(sServices->gpios());
   if (storage_res.has_error()) {
@@ -163,7 +168,12 @@ void Running::react(const internal::Mount&) {
         break;
       case drivers::SdStorage::FAILED_TO_READ:
       default:
-        updateSdState(drivers::SdState::kNotPresent);
+        if (!sServices->gpios().Get(drivers::Gpios::Pin::kSdCardDetect)) {
+          vTaskDelay(pdMS_TO_TICKS(100));
+          events::System().Dispatch(internal::Mount{.attempt = ev.attempt + 1});
+        } else {
+          updateSdState(drivers::SdState::kNotPresent);
+        }
         break;
     }
     return;
diff --git a/src/tangara/system_fsm/system_events.hpp b/src/tangara/system_fsm/system_events.hpp
index c93c14d5..c2e3a2ab 100644
--- a/src/tangara/system_fsm/system_events.hpp
+++ b/src/tangara/system_fsm/system_events.hpp
@@ -82,7 +82,9 @@ struct SamdInterrupt : tinyfsm::Event {};
 struct IdleTimeout : tinyfsm::Event {};
 struct UnmountTimeout : tinyfsm::Event {};
 
-struct Mount : tinyfsm::Event {};
+struct Mount : tinyfsm::Event {
+  int attempt;
+};
 
 }  // namespace internal