Multiple start of MC service #176
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…oder_init_indexes_flags() is called multiple times.
- added protection inside hal_quadencoder_init_indexes_flags() so that the IRQ Handler in its inside is configured and started
only if it was not already started or if it was stopped before.
- added a new hal_quadencoder_deinit_indexes_flags() which stops the IRQ handler for a sefe use of multiple cycles of
{init(), deinit()}.
multiple cycles of {init(), deinit()} of the spiencoder wasted heap because the cleaning phase of deinit() was
incomplete. now we either clean everything (if macro SPIENC_DEINIT_DEALLOCATE_HEAP is defined) or we try to
keep the memory in order to avoid delete / new situations in runtime. (this latter is the default mode).
The function eo_currents_watchdog_Initialise() is called several times in runtime and did not have a protection for it and kept on allocating small chunks of memory. Solved that by using static RAM.
…der_init_indexes_flags() + memory leaks in spienc
…efined as successfully tested on iCubGenova04 on 19mar2021
This was referenced Mar 23, 2021
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tested the binaries once more (see robotology/icub-firmware-build#25 (comment)) |
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As investigated in #174, the ems, mc4plus and mc2plus need a fix which solves their disappearance when yarprobotinterface is started / stopped several times.
This PR solves the problem.
As described in #174 (comment), the change was extensively tested, so it is ready to be merged.
A dual PR on icub-firmware-build is available so that we can merge both of them at the same time.