Jeremy Klein
88b10c82a3
SdFat's SdSpiCard tracks SPI bus state with an unsynchronized m_spiActive bool. When two tasks call into SdFat concurrently they can confuse that state machine, ending with one task calling SPIClass::endTransaction() against a paramLock the other task holds. That trips FreeRTOS's xTaskPriorityDisinherit assert (tasks.c:5156, pxTCB == pxCurrentTCBs[0]) and panics the system. HalStorage already serialized every explicit method call via storageMutex, but HalFile's destructor was `= default`, which let the underlying SdFat FsFile destructor run close() outside any lock (DESTRUCTOR_CLOSES_FILE=1). Any task that destructed a HalFile while another task was mid-SD-op would race the unsynchronized state. Move the locking discipline into HalFile::Impl::~Impl: an explicit close() under StorageLock, then the FsFile member destructor's redundant close() is a no-op. HalFile's special members can stay = default. Switch storageMutex to xSemaphoreCreateRecursiveMutex so openFileForRead and openFileForWrite can hold the lock while assigning to a HalFile& out-param whose prior Impl needs locked teardown. Priority inheritance still applies to recursive mutexes. Also documented the no-bypass rule in CLAUDE.md: never call SdFat / SdSpiCard / FsBaseFile / SDCardManager directly, never define HAL_STORAGE_IMPL outside HalStorage.cpp. Addresses my admittedly synthetic repro for #2047 Did you use AI tools to help write this code? partial
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