mimxrt/sdcard: Wait for card programming completion after write.

After a write command completes, the SD card data has been transferred
to the card's internal buffer but not yet programmed to flash memory.
The card enters programming state during this operation.

Add sdcard_cmd_send_status() to poll card status via CMD13.
Add sdcard_wait_ready() to poll until READY_FOR_DATA bit is set and
card returns to transfer state, with configurable timeout.

Update sdcard_write() to call sdcard_wait_ready() with 5s timeout
after the transfer completes, ensuring the write is fully complete
before returning to the caller.

Signed-off-by: Andrew Leech <[email protected]>

Author: pi-anl

ports/mimxrt/sdcard.c

@@ -242,6 +242,8 @@ static bool sdcard_cmd_send_csd(mimxrt_sdcard_obj_t *card, csd_t *csd);
 static bool sdcard_cmd_select_card(mimxrt_sdcard_obj_t *sdcard);
 static bool sdcard_cmd_set_blocklen(mimxrt_sdcard_obj_t *sdcard);
 static bool sdcard_cmd_set_bus_width(mimxrt_sdcard_obj_t *sdcard, usdhc_data_bus_width_t bus_width);
+static bool sdcard_cmd_send_status(mimxrt_sdcard_obj_t *card);
+static bool sdcard_wait_ready(mimxrt_sdcard_obj_t *card, uint32_t timeout_ms);
 
 void sdcard_card_inserted_callback(USDHC_Type *base, void *userData) {
     #if defined MICROPY_USDHC1 && USDHC1_AVAIL
@@ -701,6 +703,54 @@ static bool sdcard_cmd_set_bus_width(mimxrt_sdcard_obj_t *card, usdhc_data_bus_w
     }
 }
 
+static bool sdcard_cmd_send_status(mimxrt_sdcard_obj_t *card) {
+    status_t status;
+    usdhc_command_t command = {
+        .index = SDCARD_CMD_SEND_STATUS,
+        .argument = (card->rca << 16),
+        .type = kCARD_CommandTypeNormal,
+        .responseType = kCARD_ResponseTypeR1,
+        .responseErrorFlags = SDMMC_R1_ALL_ERROR_FLAG,
+    };
+    usdhc_transfer_t transfer = {
+        .data = NULL,
+        .command = &command,
+    };
+
+    status = sdcard_transfer_blocking(card->usdhc_inst, &card->handle, &transfer, 250);
+
+    if (status == kStatus_Success) {
+        card->status = command.response[0];
+        return true;
+    } else {
+        return false;
+    }
+}
+
+static bool sdcard_wait_ready(mimxrt_sdcard_obj_t *card, uint32_t timeout_ms) {
+    uint32_t start = mp_hal_ticks_ms();
+
+    while ((mp_hal_ticks_ms() - start) < timeout_ms) {
+        if (!sdcard_cmd_send_status(card)) {
+            return false;
+        }
+
+        // Check if card is ready for data (bit 8) and in transfer state (bits 9-12 == 4)
+        uint32_t card_state = SDMMC_R1_CURRENT_STATE(card->status);
+        bool ready_for_data = (card->status & SDMMC_MASK(SDCARD_STATUS_READY_FOR_DATA_SHIFT)) != 0;
+
+        if (ready_for_data && (card_state == SDCARD_STATE_TRANSFER)) {
+            return true;
+        }
+
+        // Allow other MicroPython tasks to run while polling
+        MICROPY_EVENT_POLL_HOOK;
+        mp_hal_delay_ms(1);  // Wait 1ms between polls
+    }
+
+    return false;  // Timeout
+}
+
 static bool sdcard_reset(mimxrt_sdcard_obj_t *card) {
     card->block_len = SDCARD_DEFAULT_BLOCK_SIZE;
     card->rca = 0UL;
@@ -884,12 +934,19 @@ bool sdcard_write(mimxrt_sdcard_obj_t *card, uint8_t *buffer, uint32_t block_num
 
     status_t status = sdcard_transfer_blocking(card->usdhc_inst, &card->handle, &transfer, 3000);
 
-    if (status == kStatus_Success) {
-        card->status = command.response[0];
-        return true;
-    } else {
+    if (status != kStatus_Success) {
         return false;
     }
+
+    card->status = command.response[0];
+
+    // Wait for the card to complete programming the data to flash.
+    // The transfer above only ensures the data has been sent to the card's buffer.
+    if (!sdcard_wait_ready(card, 5000)) {
+        return false;
+    }
+
+    return true;
 }
 
 bool sdcard_set_active(mimxrt_sdcard_obj_t *card) {
@@ -913,7 +970,7 @@ bool sdcard_probe_bus_voltage(mimxrt_sdcard_obj_t *card) {
         /* Get operating voltage*/
         valid_voltage = (((card->oper_cond >> 31U) == 1U) ? true : false);
         count++;
-        ticks_delay_us64(1000);
+        mp_hal_delay_ms(1);
     }
 
     if (count >= SDCARD_MAX_VOLT_TRIAL) {