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[wpilibc] ADIS IMUs: Fix memory leak (#4170)

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This commit is contained in:
T Grinch
2022-09-06 15:10:33 -05:00
committed by GitHub
parent 65c8fbd452
commit 4267fa08d1
4 changed files with 30 additions and 6 deletions
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14
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
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@@ -101,8 +101,8 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
new DigitalOutput(27); // Drive SPI CS2 (IMU RST) low
Wait(10_ms); // Wait 10ms
delete m_reset_out;
new DigitalInput(27); // Set SPI CS2 (IMU RST) high
Wait(500_ms); // Wait 500ms for reset to complete
m_reset_in = new DigitalInput(27); // Set SPI CS2 (IMU RST) high
Wait(500_ms); // Wait 500ms for reset to complete
// Configure standard SPI
if (!SwitchToStandardSPI()) {
@@ -140,7 +140,7 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
REPORT_WARNING("ADIS16470 IMU Successfully Initialized!");
// Drive SPI CS3 (IMU ready LED) low (active low)
new DigitalOutput(28);
m_status_led = new DigitalOutput(28);
}
// Report usage and post data to DS
@@ -441,6 +441,14 @@ void ADIS16470_IMU::Reset() {
}
void ADIS16470_IMU::Close() {
if (m_reset_in != nullptr) {
delete m_reset_in;
m_reset_in = nullptr;
}
if (m_status_led != nullptr) {
delete m_status_led;
m_status_led = nullptr;
}
if (m_thread_active) {
m_thread_active = false;
if (m_acquire_task.joinable()) {