some memory management hooks. fix motors homing

1 files changed, 6 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index ac0f13a2a..13d059020 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -12,7 +12,7 @@ static void (*callback)(char* buffer, size_t length);
 
 Mailbox_Handle          CommunicationRxMsgQ = NULL;
 Mailbox_Handle          CommunicationTxMsgQ = NULL;
-#define COMMUNICATION_NUM_MSGS 15
+#define COMMUNICATION_NUM_MSGS 20
 typedef struct CommRxMessage{
     //uint16_t messageId;
     uint16_t msgSize;
@@ -163,7 +163,7 @@ void communicationTask(UArg arg0, UArg arg1)
     }
 
 }
-int UnSentMessages=0;
+int UnSentMessages=0, deliveryfailure = 0;
 bool CommunicationTaskSendMessage(char* buffer,size_t length)
 {
     CommTxMessageStruc Message;
@@ -179,11 +179,14 @@ bool CommunicationTaskSendMessage(char* buffer,size_t length)
     if (retcode == false)
     {
         my_free(buffer);
+        deliveryfailure++;
+        CommunicationMailboxFlush();
     }
 
 
     return retcode;
 }
+int memoryrelease = 0;
 void CommunicationMailboxFlush(void)
 {
     int i;
@@ -195,6 +198,7 @@ void CommunicationMailboxFlush(void)
             UnSentMessages--;
             LOG_ERROR(Message.msgSize,"Flushing Message");
             my_free(Message.Buff);
+            memoryrelease+=Message.msgSize;
         }
     }
 }