diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
index 69fb407de7..d264ac4018 100644
--- a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
+++ b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -75,7 +75,7 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          3
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          37
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          38
 
 //  </h>version
 
@@ -83,13 +83,13 @@ extern "C" {
 //  <o> year            <2010-2030>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR         2021
 //  <o> month           <1-12>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        2
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        3
 //  <o> day             <1-31>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          19
+#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          22
 //  <o> hour            <0-23>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         15
+#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         18
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          30
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          24
 //  </h>build date
 // </h>Info 
 
diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoprot-callbacks/EoProtocolMN_fun_ems4rd.c b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoprot-callbacks/EoProtocolMN_fun_ems4rd.c
index ec226a584a..36776344b8 100644
--- a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoprot-callbacks/EoProtocolMN_fun_ems4rd.c
+++ b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoprot-callbacks/EoProtocolMN_fun_ems4rd.c
@@ -93,6 +93,278 @@ static void s_eoprot_ep_mn_fun_queryarraycommand(eOmn_command_t* command);
 // - definition (and initialisation) of static variables
 // --------------------------------------------------------------------------------------------------------------------
 
+#if defined(TESTethboardsfix)
+static const eOmn_serv_configuration_t s_serv_config_strain_generic =
+{   
+    .type       = eomn_serv_AS_strain,
+    .filler     = {0},
+    .data.as.strain = 
+    {
+        .boardtype =
+        {
+            .type = eobrd_strain2,
+            .firmware = {2, 0, 10},
+            .protocol = {2, 0}
+        },
+        .canloc = 
+        {
+            .port = eOcanport1, 
+            .addr = 13, 
+            .insideindex = eobrd_caninsideindex_none, 
+            .dummy = 0             
+        }
+    }
+};
+
+static const eOmn_serv_configuration_t s_serv_config_mc_mc4plus_eb24 =
+{   
+    .type       = eomn_serv_MC_mc4plus,
+    .filler     = {0},
+    .data.mc.mc4plus_based = 
+    {
+        .arrayofjomodescriptors =
+        {
+            .head   = 
+            {
+                .capacity       = 4,
+                .itemsize       = sizeof(eOmc_jomo_descriptor_t),
+                .size           = 4,
+                .internalmem    = 0                    
+            },
+            .data   =
+            {
+                { // joint 0
+                    .actuator.pwm    =
+                    {
+                        .port           = eobrd_port_mc4plusP5,
+                        .dummy          = 0                             
+                    },
+                    .encoder1         =
+                    {
+                        .type   = eomc_enc_qenc,
+                        .port   = eobrd_port_mc4plusP5,  
+                        .pos    = eomc_pos_atjoint
+                    },
+                    .encoder2    =
+                    {
+                        .type   = eomc_enc_qenc,
+                        .port   = eobrd_port_mc4plusP5,  
+                        .pos    = eomc_pos_atmotor
+                    }
+                },
+                { // joint 1
+                    .actuator.pwm    =
+                    {
+                        .port           = eobrd_port_mc4plusP2,
+                        .dummy          = 0                             
+                    },
+                    .encoder1         =
+                    {
+                        .type   = eomc_enc_aea,
+                        .port   = eobrd_port_mc4plusP10, 
+                        .pos    = eomc_pos_atjoint                            
+                    },
+                    .encoder2    =
+                    {
+                        .type   = eomc_enc_qenc,
+                        .port   = eobrd_port_mc4plusP2,  
+                        .pos    = eomc_pos_atmotor
+                    }
+                },                    
+                { // joint 2
+                    .actuator.pwm    =
+                    {
+                        .port           = eobrd_port_mc4plusP4,
+                        .dummy          = 0                             
+                    },
+                    .encoder1         =
+                    {
+                        .type   = eomc_enc_aea,
+                        .port   = eobrd_port_mc4plusP11, 
+                        .pos    = eomc_pos_atjoint      
+                    },
+                    .encoder2    =
+                    {
+                        .type   = eomc_enc_qenc,
+                        .port   = eobrd_port_mc4plusP4,  
+                        .pos    = eomc_pos_atmotor
+                    }
+                },               
+                { // joint 3
+                    .actuator.pwm    =
+                    {
+                        .port           = eobrd_port_mc4plusP3,
+                        .dummy          = 0                             
+                    },
+                    .encoder1         =
+                    {
+                        .type   = eomc_enc_absanalog,
+                        .port   = eobrd_port_mc4plusP3,    
+                        .pos    = eomc_pos_atjoint
+                    },
+                    .encoder2    =
+                    {
+                        .type   = eomc_enc_none,
+                        .port   = eobrd_port_none,
+                        .pos    = eomc_pos_none
+                    }
+                }                    
+            }   
+        },  
+        .jomocoupling       =
+        {
+            .joint2set      = 
+            {   // 3 sets: set0 = {0}, set1 = {1, 2}, set2 = {3} 
+                0, 1, 1, 2 
+            },
+            .joint2motor    = 
+            {   // tbd
+                { EO_COMMON_FLOAT_TO_Q17_14(1.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(1.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(-1.0f),   EO_COMMON_FLOAT_TO_Q17_14(1.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(1.0f) }        
+            },
+            .encoder2joint  = 
+            {   // nearly identical matrix
+                { EO_COMMON_FLOAT_TO_Q17_14(1.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(1.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(1.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) } 
+            }  
+        }        
+    }
+};
+
+static const eOmn_serv_configuration_t s_serv_config_mc_eb1_eb3_zeroprotocol =
+{   // eb1 / eb3
+    .type       = eomn_serv_MC_foc,
+    .filler     = {0},
+    .data.mc.foc_based = 
+    {
+        .version   =
+        {
+            .firmware   = { .major = 0, .minor = 0, .build = 0 },
+            .protocol   = { .major = 0, .minor = 0 }
+        },
+        .filler                 = {0},
+        .arrayofjomodescriptors =
+        {
+            .head   = 
+            {
+                .capacity       = 4,
+                .itemsize       = sizeof(eOmc_jomo_descriptor_t),
+                .size           = 4,
+                .internalmem    = 0                    
+            },
+            .data   =
+            {
+                { // joint 0
+                    .actuator.foc.canloc    =
+                    {
+                        .port           = eOcanport1,
+                        .addr           = 1,
+                        .insideindex    = eobrd_caninsideindex_first                             
+                    },
+                    .encoder1         =
+                    {
+                        .type   = eomc_enc_aea,
+                        .port   = eobrd_port_emsP6, // hal_encoder1   
+                        .pos    = eomc_pos_atjoint
+                    },
+                    .encoder2    =
+                    {
+                        .type   = eomc_enc_none,
+                        .port   = eobrd_port_none,
+                        .pos    = eomc_pos_none
+                    }
+                },
+                { // joint 1
+                    .actuator.foc.canloc    =
+                    {
+                        .port           = eOcanport1,
+                        .addr           = 2,
+                        .insideindex    = eobrd_caninsideindex_first                             
+                    },
+                    .encoder1         =
+                    {
+                        .type   = eomc_enc_aea,
+                        .port   = eobrd_port_emsP7, // hal_encoder4
+                        .pos    = eomc_pos_atjoint                            
+                    },
+                    .encoder2    =
+                    {
+                        .type   = eomc_enc_none,
+                        .port   = eobrd_port_none,
+                        .pos    = eomc_pos_none
+                    }
+                },                    
+                { // joint 2
+                    .actuator.foc.canloc    =
+                    {
+                        .port           = eOcanport1,
+                        .addr           = 3,
+                        .insideindex    = eobrd_caninsideindex_first                             
+                    },
+                    .encoder1         =
+                    {
+                        .type   = eomc_enc_aea,
+                        .port   = eobrd_port_emsP8, // hal_encoder2  
+                        .pos    = eomc_pos_atjoint
+                    },
+                    .encoder2    =
+                    {
+                        .type   = eomc_enc_none,
+                        .port   = eobrd_port_none,
+                        .pos    = eomc_pos_none
+                    }
+                },               
+                { // joint 3
+                    .actuator.foc.canloc    =
+                    {
+                        .port           = eOcanport1,
+                        .addr           = 4,
+                        .insideindex    = eobrd_caninsideindex_first                             
+                    },
+                    .encoder1         =
+                    {
+                        .type   = eomc_enc_aea,
+                        .port   = eobrd_port_emsP9,    // hal_encoder5 
+                        .pos    = eomc_pos_atjoint
+                    },
+                    .encoder2    =
+                    {
+                        .type   = eomc_enc_none,
+                        .port   = eobrd_port_none,
+                        .pos    = eomc_pos_none
+                    }
+                }                    
+            }   
+        },  
+        .jomocoupling       =
+        {
+            .joint2set      = 
+            {   // each joint is on a different set 
+                0, 1, 2, 3 
+            },
+            .joint2motor    = 
+            {   // zero matrix: use matrix embedded in controller and seecetd by boardtype4mccontroller
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) }        
+            },
+            .encoder2joint  = 
+            {   // identical matrix
+                { EO_COMMON_FLOAT_TO_Q17_14(1.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(1.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(1.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
+                { EO_COMMON_FLOAT_TO_Q17_14(0.0f),      EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(0.0f),    EO_COMMON_FLOAT_TO_Q17_14(1.0f) } 
+            }  
+        }        
+    }
+};
+
+#endif // TESTethboardsfix
 
 // --------------------------------------------------------------------------------------------------------------------
 // - definition (and initialisation) of extern variables
@@ -411,6 +683,61 @@ extern void eoprot_fun_UPDT_mn_appl_cmmnds_go2state(const EOnv* nv, const eOropd
 
 }
 
+
+#if defined(TESTethboardsfix)
+
+
+static eOmn_service_cmmnds_command_t s_command = {0};
+
+volatile uint32_t count = 0;
+volatile uint8_t thisstep = 0;
+extern void eoprot_fun_UPDT_mn_appl_cmmnds_timeset(const EOnv* nv, const eOropdescriptor_t* rd) 
+{
+    eOabstime_t *timeset = (eOabstime_t *)nv->ram;
+    
+    
+    static const uint8_t period = 4;
+    static const eOmn_serv_operation_t ops[4] = 
+    { 
+        eomn_serv_operation_verifyactivate, 
+        eomn_serv_operation_start, 
+        eomn_serv_operation_stop, 
+        eomn_serv_operation_deactivate
+    };
+    
+    
+    s_command.operation = ops[count % period];
+    
+    if(count >=8)
+    {
+        thisstep = 1;
+    }
+
+    // strain service: it is ok in both ems and mc4plus
+//    s_command.category = eomn_serv_category_strain;
+//    memcpy(&s_command.parameter.configuration, &s_serv_config_strain_generic, sizeof(eOmn_serv_configuration_t));
+       
+    
+    s_command.category = eomn_serv_category_mc;
+    #if defined(USE_EMS4RD)
+    memcpy(&s_command.parameter.configuration, &s_serv_config_mc_eb1_eb3_zeroprotocol, sizeof(eOmn_serv_configuration_t));
+    #else
+    memcpy(&s_command.parameter.configuration, &s_serv_config_mc_mc4plus_eb24, sizeof(eOmn_serv_configuration_t));   
+    #endif    
+    
+    
+    eOmn_service_cmmnds_command_t *command = &s_command;
+    
+    count ++;
+    
+    // ok, we have received a command for a given service. we ask the object theservices to manage the thing
+    
+    eo_services_ProcessCommand(eo_services_GetHandle(), command);    
+    
+}
+
+#else // not TESTethboardsfix
+
 extern void eoprot_fun_UPDT_mn_appl_cmmnds_timeset(const EOnv* nv, const eOropdescriptor_t* rd) 
 {
     eOabstime_t *timeset = (eOabstime_t *)nv->ram;
@@ -484,6 +811,8 @@ extern void eoprot_fun_UPDT_mn_appl_cmmnds_timeset(const EOnv* nv, const eOropde
               
 }
 
+#endif // TESTethboardsfix
+
 
 extern void eoprot_fun_UPDT_mn_service_cmmnds_command(const EOnv* nv, const eOropdescriptor_t* rd)
 {
diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvoptx b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvoptx
index cc14f556b9..512effd3ca 100644
--- a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvoptx
+++ b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvoptx
@@ -2586,7 +2586,7 @@
 
   <Group>
     <GroupName>appl-services</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOCurrentsWatchdog.c b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOCurrentsWatchdog.c
index 58a6aeca91..04df20324b 100644
--- a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOCurrentsWatchdog.c
+++ b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOCurrentsWatchdog.c
@@ -104,6 +104,21 @@ EO_static_inline eObool_t s_eo_currents_watchdog_averageCalc_collectDataIsComple
 // - definition (and initialisation) of static variables
 // --------------------------------------------------------------------------------------------------------------------
 
+
+#if defined(EOCURRENTSWATCHDOG_CORRECT_THE_INITIALISE_BUG)
+static EOCurrentsWatchdog s_eo_currents_watchdog = 
+{
+    EO_INIT(.themotors)         {NULL, NULL, NULL, NULL},
+    EO_INIT(.numberofmotors)    0,
+    //EO_INIT(.filter_reg)       NULL,
+    EO_INIT(.nominalCurrent2)   {0, 0, 0, 0},
+    EO_INIT(.I2T_threshold)     {0, 0, 0, 0},
+    EO_INIT(.avgCurrent)        {0, 0, 0, 0},
+    EO_INIT(.accomulatorEp)     {0, 0, 0, 0},
+    EO_INIT(.initted)           eobool_false,
+    EO_INIT(.motorinI2Tfault)   {eobool_false, eobool_false, eobool_false, eobool_false}
+};
+#else
 static EOCurrentsWatchdog s_eo_currents_watchdog = 
 {
     EO_INIT(.themotors)         NULL,
@@ -116,11 +131,12 @@ static EOCurrentsWatchdog s_eo_currents_watchdog =
     EO_INIT(.initted)           eobool_false,
     EO_INIT(.motorinI2Tfault)   NULL
 };
+#endif
 
 static uint16_t suppliedVoltage_counter = 0;
 static eOmc_controller_t *nv_controller_ptr = NULL;
 #define SUMMPLIED_VOLTAGE_COUNTER_MAX 500
-//static const char s_eobj_ownname[] = "EOCurrentsWatchdog";
+static const char s_eobj_ownname[] = "EOCurrentsWatchdog";
 
 static int16_t maxReadCurrent[4] ={15, 15, 15, 15};//15 mA is the cureent with no load see datasheet of motor (debug only)
 
@@ -132,6 +148,57 @@ static int16_t maxReadCurrent[4] ={15, 15, 15, 15};//15 mA is the cureent with n
 
 extern EOCurrentsWatchdog* eo_currents_watchdog_Initialise(void)
 {
+
+#if defined(EOCURRENTSWATCHDOG_CORRECT_THE_INITIALISE_BUG)   
+    
+    uint8_t m = 0;
+    
+    
+    // marco.accame on 09 mar 2021
+    // the folloing part could go inside a eo_currents_watchdog_Activate()
+    // as in here there is just a preparation of static ram. 
+    
+    // get the number of used motors
+    s_eo_currents_watchdog.numberofmotors = eo_entities_NumOfMotors(eo_entities_GetHandle());
+    
+    if((0 == s_eo_currents_watchdog.numberofmotors) || ( s_eo_currents_watchdog.numberofmotors > maxmotors))
+    {
+        s_eo_currents_watchdog.numberofmotors = 0;
+        return(&s_eo_currents_watchdog);
+    }
+
+
+    // retrieve pointers to motors   
+    for(m=0; m<s_eo_currents_watchdog.numberofmotors; m++)
+    {
+        s_eo_currents_watchdog.themotors[m] = eo_entities_GetMotor(eo_entities_GetHandle(), m);
+    }
+           
+    memset(s_eo_currents_watchdog.nominalCurrent2, 0, sizeof(s_eo_currents_watchdog.nominalCurrent2));
+    
+    memset(s_eo_currents_watchdog.I2T_threshold, 0, sizeof(s_eo_currents_watchdog.I2T_threshold));
+    
+    memset(s_eo_currents_watchdog.avgCurrent, 0, sizeof(s_eo_currents_watchdog.avgCurrent));
+
+    memset(s_eo_currents_watchdog.accomulatorEp, 0, sizeof(s_eo_currents_watchdog.accomulatorEp));
+    
+    memset(s_eo_currents_watchdog.motorinI2Tfault, 0, sizeof(s_eo_currents_watchdog.motorinI2Tfault)); //all motors are not in I2t fault
+
+    s_eo_currents_watchdog.initted = eobool_true;
+    
+    suppliedVoltage_counter = 0;
+    nv_controller_ptr = (eOmc_controller_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_controller, 0);
+    
+    if(nv_controller_ptr == NULL)
+    {
+        eo_errman_Trace(eo_errman_GetHandle(), "eo_currents_watchdog_Initialise(): NULL nv_controller_ptr", s_eobj_ownname);
+        s_eo_currents_watchdog.numberofmotors = 0;
+        return &s_eo_currents_watchdog;
+    }
+    
+#else
+    
+    
     uint8_t m;
     //reserve memory for the number of thresholds needed
     s_eo_currents_watchdog.numberofmotors = eo_entities_NumOfMotors(eo_entities_GetHandle());
@@ -170,7 +237,8 @@ extern EOCurrentsWatchdog* eo_currents_watchdog_Initialise(void)
     if(nv_controller_ptr == NULL)
         return NULL;
     
-    
+#endif 
+  
     return(&s_eo_currents_watchdog);
 }
 
@@ -223,6 +291,18 @@ extern void eo_currents_watchdog_Tick(EOCurrentsWatchdog* p, int16_t voltage, in
     {
         return;
     }
+
+#if defined(EOCURRENTSWATCHDOG_CORRECT_THE_INITIALISE_BUG)     
+    if(0 == s_eo_currents_watchdog.numberofmotors)
+    {
+        return;
+    }
+    
+    if(NULL == currents)
+    {
+        return;
+    }
+#endif
     
     int16_t current_value = 0;
 
diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOCurrentsWatchdog_hid.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOCurrentsWatchdog_hid.h
index f2b720e2ad..df45c6edc5 100644
--- a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOCurrentsWatchdog_hid.h
+++ b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOCurrentsWatchdog_hid.h
@@ -34,6 +34,31 @@ extern "C" {
 
 #include "EOCurrentsWatchdog.h"
 #include "EoMotionControl.h"
+    
+    
+#define EOCURRENTSWATCHDOG_CORRECT_THE_INITIALISE_BUG  
+
+// marco.accame on 09 mar 2021
+// the function eo_currents_watchdog_Initialise() has a behaviour which is not 
+// similar to the other embobj singletons. 
+// it should be called only once at startup inside eo_motioncontrol_Initialise()
+// and then never again. its role should be only to be sure that the module has
+// the required resources. And also it should have a protection vs multiple calls
+// to avoid damage due to repeated memory allocation.
+// The module should then have a method such as eo_currents_watchdog_Activate() and 
+// maybe also a eo_currents_watchdog_Deactivate() to be called inside 
+// eo_motioncontrol_Activate() and eo_motioncontrol_Deactivate().
+// Instead, there is only eo_currents_watchdog_Initialise() which allocates memory and 
+// at the same time activates the module. And the function is w/out protection vs multiple
+// calls. Also, eo_currents_watchdog_Initialise() is called inside eo_motioncontrol_Activate().
+// As a result, the continuos calls of eo_currents_watchdog_Initialise() produce RAM erosion
+// which eventually may lead to a fatal error.
+// 
+// with macro CORRECT_THE_INITIALISE_BUG we solve this problem.
+// we maintain the usual API to change as less as possible but protect vs continuos
+// allocations. we actually use static data.
+
+  
 
 
 // - definition of the hidden struct implementing the object ----------------------------------------------------------
@@ -44,6 +69,23 @@ typedef struct
     uint16_t             counter;
 } eoCurrentWD_averageData_t;
 
+#if defined(EOCURRENTSWATCHDOG_CORRECT_THE_INITIALISE_BUG)
+
+enum {maxmotors = 4};
+
+struct EOCurrentsWatchdog_hid
+{
+    eOmc_motor_t*               themotors[maxmotors];
+    uint8_t                     numberofmotors;
+    //float*                    filter_reg;
+    float                       nominalCurrent2[maxmotors]; //in this list nominalCurrent^2 for each motor are saved
+    float                       I2T_threshold[maxmotors]; //=(peakCurrent^2 - nominalCurrent^2);
+    eoCurrentWD_averageData_t   avgCurrent[maxmotors];
+    float                       accomulatorEp[maxmotors]; //Ep_t = (averageCurrent_t^2-nominalCurrent^2) + Ep_t-1, where Ep_t is Ep at time t
+    eObool_t                    initted;
+    eObool_t                    motorinI2Tfault[maxmotors];
+}; 
+#else
 struct EOCurrentsWatchdog_hid
 {
     eOmc_motor_t**              themotors;
@@ -56,7 +98,7 @@ struct EOCurrentsWatchdog_hid
     eObool_t                    initted;
     eObool_t                    *motorinI2Tfault;
 }; 
-
+#endif
 
 // - declaration of extern hidden functions ---------------------------------------------------------------------------
 // empty section
diff --git a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
index 29f08dc311..8c43f72d12 100644
--- a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
+++ b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -75,20 +75,20 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          3
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          21
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          22
 //  </h>version
 
 //  <h> build date
 //  <o> year            <2010-2030>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR         2021
 //  <o> month           <1-12>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        2
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        3
 //  <o> day             <1-31>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          19
+#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          22
 //  <o> hour            <0-23>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         15
+#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         18
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          30
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          27
 //  </h>build date
 
 // </h>Info 
diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
index f7edd456c8..1020f5debb 100644
--- a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
+++ b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -76,7 +76,7 @@ extern "C" {
 //  <o> minor           <0-255> 
 
 
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          30
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          31
 
 
 //  </h>version
@@ -85,13 +85,13 @@ extern "C" {
 //  <o> year            <2010-2030>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR         2021
 //  <o> month           <1-12>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        2
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        3
 //  <o> day             <1-31>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          19
+#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          22
 //  <o> hour            <0-23>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         15
+#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         18
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          30
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          26
 
 //  </h>build date
 
diff --git a/emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader.c b/emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader.c
index 11fbd1a87a..20f5713892 100644
--- a/emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader.c
+++ b/emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader.c
@@ -69,6 +69,10 @@
 #define CHECK_ENC_IS_ON_STREAMED_SPI_ALONE(type)        ((eomc_enc_spichainof2 == (type)) || (eomc_enc_spichainof3 == (type)))
 
 
+#if defined(TESTethboardsfix)
+    #define FAKE_AEA
+#endif
+
 // --------------------------------------------------------------------------------------------------------------------
 // - definition (and initialisation) of extern variables. deprecated: better using _get(), _set() on static variables 
 // --------------------------------------------------------------------------------------------------------------------
@@ -528,8 +532,12 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen
             {
                 hal_spiencoder_position_t spiRawValue = 0; 
                 hal_spiencoder_errors_flags flags = {0};
-                
-                if(hal_res_OK == hal_spiencoder_get_value((hal_spiencoder_t)prop.descriptor->port, &spiRawValue, &flags))
+#if defined(FAKE_AEA)                
+                spiRawValue = 0;
+                uint32_t ticks = (spiRawValue >> 6) & 0x0FFF;
+                prop.valueinfo->value[0] = s_eo_appEncReader_rescale2icubdegrees(ticks, jomo, (eOmc_position_t)prop.descriptor->pos); 
+#else                
+                if(hal_res_OK == hal_spiencoder_get_value((hal_spiencoder_t)prop.descriptor->port, &spiRawValue, &flags))                    
                 {   // ok, the hal reads correctly
                     if(eobool_true == s_eo_appEncReader_IsValidValue_AEA(&spiRawValue, &prop.valueinfo->errortype))
                     {   // the spi raw reading from hal is valid. i just need to rescale it.
@@ -553,7 +561,8 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen
                 {   // we dont even have a valid reading from hal
                     prop.valueinfo->errortype = encreader_err_AEA_READING;
                     errorparam = 0xffff;                                         
-                }                
+                }   
+#endif                
                
             } break; 
             
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/api/hal_quadencoder.h b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/api/hal_quadencoder.h
index 35e00ca87e..c27f85318d 100644
--- a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/api/hal_quadencoder.h
+++ b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/api/hal_quadencoder.h
@@ -90,9 +90,18 @@ extern uint32_t hal_quadencoder_get_counter(hal_quadencoder_t id);
   */
 extern void hal_quadencoder_reset_counter(hal_quadencoder_t id);
 
+/** @fn         hal_quadencoder_deinit_indexes_flags(void)
+    @brief      This function deinitialize the interrupt line of the index for the quadrature encoder 
+   @param       none
+   @retval      none
+  */
+extern void hal_quadencoder_deinit_indexes_flags(void);
 
 /** @fn         hal_quadencoder_init_indexes_flags(void)
     @brief      This function initialize the interrupt line (which is not mandatory) of the index for the quadrature encoder 
+                The funtion has a protecion vs multiple initializations. That is important because in its inside we configure
+                the start of an IRQ Handler which cannot be configured if it is running. To do a proper re-init call
+                hal_quadencoder_deinit_indexes_flags() first.
    @param       none
    @retval      none
   */
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/hal.stm32f4.uvoptx b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/hal.stm32f4.uvoptx
index eee7a25a75..69391e0b97 100644
--- a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/hal.stm32f4.uvoptx
+++ b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/hal.stm32f4.uvoptx
@@ -10,7 +10,7 @@
     <aExt>*.s*; *.src; *.a*</aExt>
     <oExt>*.obj</oExt>
     <lExt>*.lib</lExt>
-    <tExt>*.txt; *.h; *.inc</tExt>
+    <tExt>*.txt; *.h; *.inc; *.md</tExt>
     <pExt>*.plm</pExt>
     <CppX>*.cpp</CppX>
     <nMigrate>0</nMigrate>
@@ -101,6 +101,8 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
         <nTsel>0</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
@@ -293,6 +295,7 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -380,6 +383,8 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
         <nTsel>0</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
@@ -538,6 +543,7 @@
       </SystemViewers>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -625,6 +631,8 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
         <nTsel>0</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
@@ -783,6 +791,7 @@
       </SystemViewers>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -844,7 +853,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>
@@ -870,6 +879,8 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
         <nTsel>0</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
@@ -1028,6 +1039,7 @@
       </SystemViewers>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -1115,6 +1127,8 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
         <nTsel>0</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
@@ -1273,6 +1287,7 @@
       </SystemViewers>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -1334,7 +1349,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>
@@ -1360,6 +1375,8 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
         <nTsel>0</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
@@ -1469,6 +1486,7 @@
       </SystemViewers>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -2190,7 +2208,7 @@
 
   <Group>
     <GroupName>hal-extra-periphs</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/hal.stm32f4.uvprojx b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/hal.stm32f4.uvprojx
index 8df183e3a8..bab9d20a59 100644
--- a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/hal.stm32f4.uvprojx
+++ b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/hal.stm32f4.uvprojx
@@ -15,8 +15,8 @@
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.11.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -183,6 +183,8 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -323,6 +325,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>1</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>1</v6Lang>
             <v6LangP>1</v6LangP>
@@ -348,7 +351,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>1</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls>--cpreproc</MiscControls>
               <Define></Define>
@@ -576,6 +579,7 @@
                     <uThumb>2</uThumb>
                     <uSurpInc>2</uSurpInc>
                     <uC99>2</uC99>
+                    <uGnu>2</uGnu>
                     <useXO>2</useXO>
                     <v6Lang>0</v6Lang>
                     <v6LangP>0</v6LangP>
@@ -941,6 +945,7 @@
                 <uThumb>2</uThumb>
                 <uSurpInc>2</uSurpInc>
                 <uC99>2</uC99>
+                <uGnu>2</uGnu>
                 <useXO>2</useXO>
                 <v6Lang>0</v6Lang>
                 <v6LangP>0</v6LangP>
@@ -966,7 +971,7 @@
                 <NoWarn>2</NoWarn>
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                 <VariousControls>
                   <MiscControls></MiscControls>
                   <Define></Define>
@@ -983,13 +988,14 @@
       <TargetName>hal-ems4rd</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.11.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -1156,6 +1162,8 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -1296,6 +1304,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>1</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>1</v6Lang>
             <v6LangP>1</v6LangP>
@@ -1305,7 +1314,7 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls></MiscControls>
+              <MiscControls>-DSPIENC_DEINIT_DEALLOCATE_HEAP</MiscControls>
               <Define>HAL_BOARD_EMS4RD HL_USE_BRD_EMS4RD HL_CFG_PLUS_TARGET_BY_FILE NOT_EMS4RD_ETHDBG</Define>
               <Undefine></Undefine>
               <IncludePath>.\api;.\src\core;.\src\brdcfg;.\src\extra\chips;.\src\extra\devices;.\src\extra\extbrds;.\src\extra\periphs;.\src\extra\utilities;..\..\..\..\libs\midware\eventviewer\api;..\..\..\..\libs\abslayer\ipal\api;..\..\..\..\libs\midware\hl-plus\api;..\..\..\..\libs\lowlevel\hl-core\cmsis\api;..\..\..\..\libs\lowlevel\hl-core\stm32f4\api</IncludePath>
@@ -1321,7 +1330,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>1</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls>--cpreproc</MiscControls>
               <Define></Define>
@@ -1679,6 +1688,7 @@
                     <uThumb>2</uThumb>
                     <uSurpInc>2</uSurpInc>
                     <uC99>2</uC99>
+                    <uGnu>2</uGnu>
                     <useXO>2</useXO>
                     <v6Lang>0</v6Lang>
                     <v6LangP>0</v6LangP>
@@ -1734,6 +1744,7 @@
                     <uThumb>2</uThumb>
                     <uSurpInc>2</uSurpInc>
                     <uC99>2</uC99>
+                    <uGnu>2</uGnu>
                     <useXO>2</useXO>
                     <v6Lang>0</v6Lang>
                     <v6LangP>0</v6LangP>
@@ -1839,6 +1850,7 @@
                     <uThumb>2</uThumb>
                     <uSurpInc>2</uSurpInc>
                     <uC99>2</uC99>
+                    <uGnu>2</uGnu>
                     <useXO>2</useXO>
                     <v6Lang>0</v6Lang>
                     <v6LangP>0</v6LangP>
@@ -1894,6 +1906,7 @@
                     <uThumb>2</uThumb>
                     <uSurpInc>2</uSurpInc>
                     <uC99>2</uC99>
+                    <uGnu>2</uGnu>
                     <useXO>2</useXO>
                     <v6Lang>0</v6Lang>
                     <v6LangP>0</v6LangP>
@@ -2064,6 +2077,7 @@
                 <uThumb>2</uThumb>
                 <uSurpInc>2</uSurpInc>
                 <uC99>2</uC99>
+                <uGnu>2</uGnu>
                 <useXO>2</useXO>
                 <v6Lang>0</v6Lang>
                 <v6LangP>0</v6LangP>
@@ -2089,7 +2103,7 @@
                 <NoWarn>2</NoWarn>
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                 <VariousControls>
                   <MiscControls></MiscControls>
                   <Define></Define>
@@ -2106,14 +2120,14 @@
       <TargetName>hal-ems4rd-ethdbg</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.11.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -2280,6 +2294,8 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -2420,6 +2436,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>1</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>1</v6Lang>
             <v6LangP>1</v6LangP>
@@ -2429,7 +2446,7 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls></MiscControls>
+              <MiscControls>-DSPIENC_DEINIT_DEALLOCATE_HEAP</MiscControls>
               <Define>HAL_BOARD_EMS4RD HL_CFG_PLUS_TARGET_BY_FILE EMS4RD_ETHDBG</Define>
               <Undefine></Undefine>
               <IncludePath>.\api;.\src\core;.\src\brdcfg;.\src\extra\chips;.\src\extra\devices;.\src\extra\extbrds;.\src\extra\periphs;.\src\extra\utilities;..\..\..\..\libs\midware\eventviewer\api;..\..\..\..\libs\abslayer\ipal\api;..\..\..\..\libs\midware\hl-plus\api;..\..\..\..\libs\lowlevel\hl-core\cmsis\api;..\..\..\..\libs\lowlevel\hl-core\stm32f4\api</IncludePath>
@@ -2445,7 +2462,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>1</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls>--cpreproc</MiscControls>
               <Define></Define>
@@ -2943,6 +2960,7 @@
                     <uThumb>2</uThumb>
                     <uSurpInc>2</uSurpInc>
                     <uC99>2</uC99>
+                    <uGnu>2</uGnu>
                     <useXO>2</useXO>
                     <v6Lang>0</v6Lang>
                     <v6LangP>0</v6LangP>
@@ -2998,6 +3016,7 @@
                     <uThumb>2</uThumb>
                     <uSurpInc>2</uSurpInc>
                     <uC99>2</uC99>
+                    <uGnu>2</uGnu>
                     <useXO>2</useXO>
                     <v6Lang>0</v6Lang>
                     <v6LangP>0</v6LangP>
@@ -3088,6 +3107,7 @@
                 <uThumb>2</uThumb>
                 <uSurpInc>2</uSurpInc>
                 <uC99>2</uC99>
+                <uGnu>2</uGnu>
                 <useXO>2</useXO>
                 <v6Lang>0</v6Lang>
                 <v6LangP>0</v6LangP>
@@ -3113,7 +3133,7 @@
                 <NoWarn>2</NoWarn>
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                 <VariousControls>
                   <MiscControls></MiscControls>
                   <Define></Define>
@@ -3130,14 +3150,14 @@
       <TargetName>hal-mc4plus</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060528::V5.06 update 5 (build 528)::ARMCC</pCCUsed>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.11.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -3304,6 +3324,8 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -3444,6 +3466,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>1</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>1</v6Lang>
             <v6LangP>1</v6LangP>
@@ -3453,7 +3476,7 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls></MiscControls>
+              <MiscControls>-DSPIENC_DEINIT_DEALLOCATE_HEAP</MiscControls>
               <Define>HAL_BOARD_MC4PLUS HL_CFG_PLUS_TARGET_BY_FILE NOT_MC4PLUS_ETHDBG</Define>
               <Undefine></Undefine>
               <IncludePath>.\api;.\src\core;.\src\brdcfg;.\src\extra\chips;.\src\extra\devices;.\src\extra\extbrds;.\src\extra\periphs;.\src\extra\utilities;..\..\..\..\libs\midware\eventviewer\api;..\..\..\..\libs\abslayer\ipal\api;..\..\..\..\libs\midware\hl-plus\api;..\..\..\..\libs\lowlevel\hl-core\cmsis\api;..\..\..\..\libs\lowlevel\hl-core\stm32f4\api</IncludePath>
@@ -3469,7 +3492,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>1</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls>--cpreproc</MiscControls>
               <Define></Define>
@@ -4012,6 +4035,7 @@
                 <uThumb>2</uThumb>
                 <uSurpInc>2</uSurpInc>
                 <uC99>2</uC99>
+                <uGnu>2</uGnu>
                 <useXO>2</useXO>
                 <v6Lang>0</v6Lang>
                 <v6LangP>0</v6LangP>
@@ -4037,7 +4061,7 @@
                 <NoWarn>2</NoWarn>
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                 <VariousControls>
                   <MiscControls></MiscControls>
                   <Define></Define>
@@ -4054,14 +4078,14 @@
       <TargetName>hal-mc4plus-ethdbg</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.11.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -4228,6 +4252,8 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -4368,6 +4394,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>1</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>1</v6Lang>
             <v6LangP>1</v6LangP>
@@ -4377,7 +4404,7 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls></MiscControls>
+              <MiscControls>-DSPIENC_DEINIT_DEALLOCATE_HEAP</MiscControls>
               <Define>HAL_BOARD_MC4PLUS HL_CFG_PLUS_TARGET_BY_FILE MC4PLUS_ETHDBG</Define>
               <Undefine></Undefine>
               <IncludePath>.\api;.\src\core;.\src\brdcfg;.\src\extra\chips;.\src\extra\devices;.\src\extra\extbrds;.\src\extra\periphs;.\src\extra\utilities;..\..\..\..\libs\midware\eventviewer\api;..\..\..\..\libs\abslayer\ipal\api;..\..\..\..\libs\midware\hl-plus\api;..\..\..\..\libs\lowlevel\hl-core\cmsis\api;..\..\..\..\libs\lowlevel\hl-core\stm32f4\api</IncludePath>
@@ -4393,7 +4420,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>1</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls>--cpreproc</MiscControls>
               <Define></Define>
@@ -4936,6 +4963,7 @@
                 <uThumb>2</uThumb>
                 <uSurpInc>2</uSurpInc>
                 <uC99>2</uC99>
+                <uGnu>2</uGnu>
                 <useXO>2</useXO>
                 <v6Lang>0</v6Lang>
                 <v6LangP>0</v6LangP>
@@ -4961,7 +4989,7 @@
                 <NoWarn>2</NoWarn>
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                 <VariousControls>
                   <MiscControls></MiscControls>
                   <Define></Define>
@@ -4978,14 +5006,14 @@
       <TargetName>hal-mc2plus-ethdbg</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.11.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -5152,6 +5180,8 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -5292,6 +5322,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>1</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>1</v6Lang>
             <v6LangP>1</v6LangP>
@@ -5301,7 +5332,7 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls></MiscControls>
+              <MiscControls>-DSPIENC_DEINIT_DEALLOCATE_HEAP</MiscControls>
               <Define>HAL_BOARD_MC2PLUS HL_CFG_PLUS_TARGET_BY_FILE MC2PLUS_ETHDBG</Define>
               <Undefine></Undefine>
               <IncludePath>.\api;.\src\core;.\src\brdcfg;.\src\extra\chips;.\src\extra\devices;.\src\extra\extbrds;.\src\extra\periphs;.\src\extra\utilities;..\..\..\..\libs\midware\eventviewer\api;..\..\..\..\libs\abslayer\ipal\api;..\..\..\..\libs\midware\hl-plus\api;..\..\..\..\libs\lowlevel\hl-core\cmsis\api;..\..\..\..\libs\lowlevel\hl-core\stm32f4\api</IncludePath>
@@ -5317,7 +5348,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>1</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls>--cpreproc</MiscControls>
               <Define></Define>
@@ -5860,6 +5891,7 @@
                 <uThumb>2</uThumb>
                 <uSurpInc>2</uSurpInc>
                 <uC99>2</uC99>
+                <uGnu>2</uGnu>
                 <useXO>2</useXO>
                 <v6Lang>0</v6Lang>
                 <v6LangP>0</v6LangP>
@@ -5885,7 +5917,7 @@
                 <NoWarn>2</NoWarn>
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
-                <uClangAs>2</uClangAs>
+                <ClangAsOpt>0</ClangAsOpt>
                 <VariousControls>
                   <MiscControls></MiscControls>
                   <Define></Define>
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.ethdbg.lib b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.ethdbg.lib
index 5675dd0f19..6512bb66e4 100644
Binary files a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.ethdbg.lib and b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.ethdbg.lib differ
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.lib b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.lib
index 4338feb8a3..614a4f50c7 100644
Binary files a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.lib and b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.lib differ
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc2plus.ethdbg.lib b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc2plus.ethdbg.lib
index 50db1c1c1a..e160f2887c 100644
Binary files a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc2plus.ethdbg.lib and b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc2plus.ethdbg.lib differ
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.ethdbg.lib b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.ethdbg.lib
index e09d66ff3a..7d9a827e4f 100644
Binary files a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.ethdbg.lib and b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.ethdbg.lib differ
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.lib b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.lib
index 9c3c80c2bf..1e0f609c34 100644
Binary files a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.lib and b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.lib differ
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_mux.c b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_mux.c
index 89c3bd9928..5d7e4a2cb8 100644
--- a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_mux.c
+++ b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_mux.c
@@ -288,8 +288,11 @@ extern hal_result_t hal_mux_deinit(hal_mux_t id)
     }
 #endif
     s_hal_mux_initted_reset(id);
+#if !defined(SPIENC_DEINIT_DEALLOCATE_HEAP)
+#else
     hal_heap_delete((void**)&(s_hal_mux_theinternals.items[HAL_mux_id2index(id)]));
     //hal_heap_delete((void**)&intitem);
+#endif
 
     return(hal_res_OK);
 }
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_spiencoder.c b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_spiencoder.c
index 2d0d4920c0..02c97c7edf 100644
--- a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_spiencoder.c
+++ b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_spiencoder.c
@@ -820,10 +820,13 @@ extern hal_result_t hal_spiencoder_deinit(hal_spiencoder_t id)
     
     //Reset the flag associated to the encoder
     s_hal_spiencoder_initted_reset(id);
-    
+
+#if !defined(SPIENC_DEINIT_DEALLOCATE_HEAP)
+#else    
     //Dealloc all the associated memory
     hal_heap_delete((void**)&(s_hal_spiencoder_theinternals.items[HAL_encoder_id2index(id)]));
     //hal_heap_delete((void**)&intitem);
+#endif
 
     return(hal_res_OK);
 }
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/periphs/hal_quadencoder.c b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/periphs/hal_quadencoder.c
index 92ce10d7ea..5325036318 100644
--- a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/periphs/hal_quadencoder.c
+++ b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/periphs/hal_quadencoder.c
@@ -742,6 +742,20 @@ extern uint32_t hal_quadencoder_get_counter(hal_quadencoder_t id)
     return(temp); 
 }
 
+static uint8_t indexes_initted = 0;
+
+extern void hal_quadencoder_deinit_indexes_flags(void)
+{
+    
+    NVIC_InitTypeDef NVIC_InitStructure1;
+    NVIC_InitStructure1.NVIC_IRQChannel =  EXTI15_10_IRQn;
+    NVIC_InitStructure1.NVIC_IRQChannelPreemptionPriority = 0x0F;
+    NVIC_InitStructure1.NVIC_IRQChannelSubPriority = 0x0F;
+    NVIC_InitStructure1.NVIC_IRQChannelCmd = DISABLE;
+    NVIC_Init(&NVIC_InitStructure1); 
+    
+    indexes_initted = 0;   
+}
 
 extern void hal_quadencoder_init_indexes_flags(void)
 {
@@ -750,6 +764,30 @@ extern void hal_quadencoder_init_indexes_flags(void)
         return;
     }
     
+    // marco.accame on 9 mar 2021: fix initialization of a hw peripheral with an active IRQ Handler. 
+    // as a general rule, we should avoid touching the configuration of a peripheral which already 
+    // has an active IRQ Handler because it may give undefined behaviour. 
+    // that is what happened before this fix. the mc service calls this function
+    // multiple times and w/out protection that causes bad effects
+    //  
+    // to fix we must either:
+    // 1. init just once and never init again.
+    // 2. make sure the IRQ is stopped, configure peripheral and then start IRQ
+    //    (maybe also add a hal_quadencoder_deinit_indexes_flags() function which stops IRQ)
+    // 
+    // 
+    // solution
+    // i tested both solutions and both work: the calling application does not crash anymore.
+    // now hal_quadencoder_init_indexes_flags() has a protection vs multiple initializations
+    // and also there is a function which may deinit. 
+    // it will be up to the user to use deinit() and then init() or call only init() as it is now   
+    // done in EOtheMotionControl service
+           
+    if(1 == indexes_initted)
+    {
+       return;
+    }
+   
     // in future we should do it per quad-enc, thus .... 
     
   // Indexes  //
@@ -787,6 +825,10 @@ extern void hal_quadencoder_init_indexes_flags(void)
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
   NVIC_Init(&NVIC_InitStructure);
+  
+  
+    indexes_initted = 1;
+
 }
 
 
diff --git a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/periphs/hal_spi.c b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/periphs/hal_spi.c
index 4fb3bb7feb..db9f8d7d58 100644
--- a/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/periphs/hal_spi.c
+++ b/emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/periphs/hal_spi.c
@@ -624,11 +624,46 @@ extern hal_result_t hal_spi_deinit(hal_spi_t id)
         return hal_res_NOK_generic;
     }
     
-    s_hal_spi_initted_reset(id);
+#if !defined(SPIENC_DEINIT_DEALLOCATE_HEAP)
+    #warning SPIENC_DEINIT_DEALLOCATE_HEAP is not active so that we avoid runtime deallocation / allocation
+#else  
+    #warning SPIENC_DEINIT_DEALLOCATE_HEAP is active
+         
+    hal_spi_internal_item_t* intitem = s_hal_spi_theinternals.items[HAL_spi_id2index(id)]; 
     
-    hal_heap_delete((void**)&(s_hal_spi_theinternals.items[HAL_spi_id2index(id)]));
-    //hal_heap_delete((void**)&intitem);
+    // we deallocate the pointers inside intitem 
+         
+    if(NULL != intitem->rxFIFOisrframe)
+    {
+        hl_fifo_delete(intitem->rxFIFOisrframe);
+        intitem->rxFIFOisrframe = NULL;
+    }
+    if(NULL != intitem->txFIFOisrframe)
+    {
+        hl_fifo_delete(intitem->txFIFOisrframe);
+        intitem->txFIFOisrframe = NULL;
+    } 
+    if(NULL != intitem->fiforx)
+    {
+        hl_fifo_delete(intitem->fiforx);
+        intitem->fiforx = NULL;
+    }  
+    if(NULL != intitem->userdeftxframe)
+    {
+        hal_heap_delete((void**)&(intitem->userdeftxframe));
+        intitem->userdeftxframe = NULL;
+    }
+    
+    // memset intitem to zero
+    memset(intitem, 0, sizeof(hal_spi_internal_item_t));
     
+    // and now delete it.
+    hal_heap_delete((void**)&(s_hal_spi_theinternals.items[HAL_spi_id2index(id)]));
+#endif 
+
+    // we mark this spi as un-initted
+    s_hal_spi_initted_reset(id); 
+      
     return (hal_res_OK);
 }
 
@@ -919,14 +954,33 @@ static hal_result_t s_hal_spi_init(hal_spi_t id, const hal_spi_cfg_t *cfg)
     // --------------------------------------------------------------------------------------
     // init the spi internals data structure
     
+    // marco.accame on 09mar2021 
+    // in here we implement the following policy:
+    // we allocate only if we find that pointers are either NULL or dont point to the required space
+    // in this way, multiple cycles of init() / deinit() may save some runtime allocations.
+    // to avoid as much as possible runtime allocations you should undefine macro SPIENC_DEINIT_DEALLOCATE_HEAP
+    // so that deinit() does not remove memory and at the next init() the pointers are still active.
+    
+    // we use it to understand if we need to reallocate some memory or not
+    size_t prevsizeoftxframe = 0;
+    
     // if it does not have ram yet, then attempt to allocate it.
     if(NULL == intitem)
     {
         intitem = s_hal_spi_theinternals.items[HAL_spi_id2index(id)] = hal_heap_new(sizeof(hal_spi_internal_item_t));
         // minimal initialisation of the internal item
-        // nothing to init.      
-    }      
-    
+        // nothing to init. just reset everything even if hal_heap_new() already does it
+        memset(intitem, 0, sizeof(hal_spi_internal_item_t)); 
+        prevsizeoftxframe = 0;       
+    }
+    else
+    {
+        // we have an intitem from a previous call of s_hal_spi_init(). 
+        // DONT memset(): intitem surely points to RAM alloated in a previous init()
+        // i get the size of tx frame in the previous initialization 
+        prevsizeoftxframe = intitem->config.maxsizeofframe * intitem->sizeofword;
+    } 
+
     // - the config   
     memcpy(&intitem->config, cfg, sizeof(hal_spi_cfg_t));
     hal_spi_cfg_t *usedcfg = NULL;
@@ -935,30 +989,50 @@ static hal_result_t s_hal_spi_init(hal_spi_t id, const hal_spi_cfg_t *cfg)
     // only frame-based
     intitem->sizeofframe = usedcfg->maxsizeofframe;
     intitem->sizeofword = (hal_spi_datasize_16bit == usedcfg->datasize) ? (2) : (1);
+    size_t sizeoftxframe = usedcfg->maxsizeofframe * intitem->sizeofword;
  
-    volatile uint8_t sss = intitem->sizeofword;
-    sss = sss;
-    
+   
     // - the isr rx frame (heap allocation)  
-#if defined(HAL_MANAGE_ISRFRAMES_WITH_FIFO)    
-    intitem->rxFIFOisrframe = hl_fifo_new(usedcfg->maxsizeofframe, intitem->sizeofword, NULL);
-#else    
+#if defined(HAL_MANAGE_ISRFRAMES_WITH_FIFO)
+    
+    // we use hl_fifo_new2() because ... if does not alloc memory if the fifo is already ok.
+    // it allocate ram only if th fifo is NULL, it realloc it if its required space has changed
+    intitem->rxFIFOisrframe = hl_fifo_new2(intitem->rxFIFOisrframe, usedcfg->maxsizeofframe, intitem->sizeofword, NULL);
+    
+#else 
+    #error -> you are using a not-tested mode: check vs this pointer being NULL ...    
     intitem->rxBUFFERisrframe = (uint8_t*)hal_heap_new(usedcfg->maxsizeofframe * intitem->sizeofword);    
-#endif 
+#endif
+ 
     // reset counter
     intitem->rxWORDScounter = 0;
         
     // - the isr tx frame (heap allocation)
-#if defined(HAL_MANAGE_ISRFRAMES_WITH_FIFO)      
-    intitem->txFIFOisrframe = hl_fifo_new(usedcfg->maxsizeofframe, intitem->sizeofword, NULL);
-    intitem->userdeftxframe = (uint8_t*)hal_heap_new(usedcfg->maxsizeofframe * intitem->sizeofword);
-#else    
+#if defined(HAL_MANAGE_ISRFRAMES_WITH_FIFO) 
+    // we use hl_fifo_new2() because ... if does not alloc memory if the fifo is already ok.
+    // it allocate ram only if th fifo is NULL, it realloc it if its required space has changed
+    intitem->txFIFOisrframe = hl_fifo_new2(intitem->txFIFOisrframe, usedcfg->maxsizeofframe, intitem->sizeofword, NULL);
+    
+    // the userdeftxframe must be allocated if NULL and reallocated if its required space has changed   
+    if((NULL == intitem->userdeftxframe))
+    {
+        intitem->userdeftxframe = (uint8_t*)hal_heap_new(sizeoftxframe);
+    }
+    else if(sizeoftxframe != prevsizeoftxframe)
+    {
+        // must reallocate.       
+        hal_heap_delete((void**)&(intitem->userdeftxframe));
+        intitem->userdeftxframe = (uint8_t*)hal_heap_new(sizeoftxframe);                
+    }    
+#else 
+    #error -> you are using a not-tested mode: check vs this pointer being NULL ...    
     intitem->txBUFFERisrframe = (uint8_t*)hal_heap_new(usedcfg->maxsizeofframe * intitem->sizeofword);    
 #endif
 
     // - the fifo of rx frames. but only if it is needed ... we dont need it if ...
-    intitem->fiforx = hl_fifo_new(usedcfg->capacityofrxfifoofframes, usedcfg->maxsizeofframe * intitem->sizeofword, NULL);
-        
+    #warning grosso come una casa: verifica la frase precedente
+    intitem->fiforx = hl_fifo_new2(intitem->fiforx, usedcfg->capacityofrxfifoofframes, usedcfg->maxsizeofframe * intitem->sizeofword, NULL);
+    
     // - the id
     intitem->id = id;
 
diff --git a/emBODY/eBcode/arch-arm/libs/midware/hl-plus/api/hl_fifo.h b/emBODY/eBcode/arch-arm/libs/midware/hl-plus/api/hl_fifo.h
index 708a978ed5..e623a2377b 100644
--- a/emBODY/eBcode/arch-arm/libs/midware/hl-plus/api/hl_fifo.h
+++ b/emBODY/eBcode/arch-arm/libs/midware/hl-plus/api/hl_fifo.h
@@ -98,6 +98,10 @@ struct hl_fifo_hid_t
  **/
 extern hl_fifo_t* hl_fifo_new(uint8_t capacity, uint8_t sizeofitem, uint8_t *iteminitval);
 
+// if fifo is NULL then it is just a hl_fifo_new(capacity, sizeofitem, iteminitval). else it reshapes the fifo. 
+// it reallocates RAM only if required: if (capacity*sizeofitem) and (fifo->capacity*fifo->sizeofitem) differ 
+extern hl_fifo_t* hl_fifo_new2(hl_fifo_t *fifo, uint8_t capacity, uint8_t sizeofitem, uint8_t *iteminitval);
+
 
 /** @fn         extern void hl_fifo_delete(hl_fifo_t *fifo)
     @brief      It releases all memory related to the fifo.
diff --git a/emBODY/eBcode/arch-arm/libs/midware/hl-plus/src/utils/hl_fifo.c b/emBODY/eBcode/arch-arm/libs/midware/hl-plus/src/utils/hl_fifo.c
index a21c721bf1..bd86cbe754 100644
--- a/emBODY/eBcode/arch-arm/libs/midware/hl-plus/src/utils/hl_fifo.c
+++ b/emBODY/eBcode/arch-arm/libs/midware/hl-plus/src/utils/hl_fifo.c
@@ -133,6 +133,41 @@ extern hl_fifo_t* hl_fifo_new(uint8_t capacity, uint8_t sizeofitem, uint8_t *ite
     return(fifo);    
 }
 
+extern hl_fifo_t* hl_fifo_new2(hl_fifo_t *fifo, uint8_t capacity, uint8_t sizeofitem, uint8_t *iteminitval)
+{
+    if(NULL == fifo)
+    {
+        return hl_fifo_new(capacity, sizeofitem, iteminitval);
+    }
+    
+    // else we already have a fifo which we should ... either reinit (if capacity and sizeoitem are the same) or realloc.
+    if((0 == capacity) || (0 == sizeofitem))
+    {
+        // as it is ...
+        return(fifo);
+    }
+    
+    if(((sizeofitem*capacity) == (fifo->sizeofitem*fifo->capacity)) && (NULL != fifo->data))
+    {
+        // no realloc is required. i just ... reinit things 
+        uint8_t *dataforfifo = fifo->data;
+        hl_fifo_init(fifo, capacity, sizeofitem, dataforfifo, iteminitval);
+    }
+    else if(NULL != fifo->data)
+    {
+        // need to realloc fifo->data
+        hl_sys_heap_delete(fifo->data);
+        fifo->data = NULL;
+        uint8_t *dataforfifo = hl_sys_heap_new(sizeofitem*capacity);
+        dataforfifo = hl_sys_heap_new(sizeofitem*capacity);
+        hl_fifo_init(fifo, capacity, sizeofitem, dataforfifo, iteminitval);
+    }
+            
+    return fifo;
+          
+}
+
+
 extern void hl_fifo_delete(hl_fifo_t *fifo)
 {
     if(NULL == fifo)
diff --git a/emBODY/eBcode/arch-arm/libs/midware/hl-plus/src/utils/hl_spi.c b/emBODY/eBcode/arch-arm/libs/midware/hl-plus/src/utils/hl_spi.c
index dbbd1904de..2ff47fcaa5 100644
--- a/emBODY/eBcode/arch-arm/libs/midware/hl-plus/src/utils/hl_spi.c
+++ b/emBODY/eBcode/arch-arm/libs/midware/hl-plus/src/utils/hl_spi.c
@@ -223,7 +223,8 @@ extern hl_result_t hl_spi_init(hl_spi_t id, const hl_spi_cfg_t *cfg)
     if(NULL == intitem)
     {
         // the internal item
-        intitem = s_hl_spi_theinternals.items[HL_spi_id2index(id)] = hl_sys_heap_new(sizeof(hl_spi_internal_item_t));   
+        intitem = s_hl_spi_theinternals.items[HL_spi_id2index(id)] = hl_sys_heap_new(sizeof(hl_spi_internal_item_t));  
+        memset(intitem, 0, sizeof(hl_spi_internal_item_t));        
     }
     
     // set config
@@ -400,9 +401,13 @@ extern hl_result_t hl_spi_deinit(hl_spi_t id)
     SPI_I2S_DeInit(SPIx);
             
     s_hl_spi_initted_reset(id);
-    //hal_heap_delete((void**)&(s_hl_spi_theinternals.items[HL_spi_id2index(id)]));
+    
+#if !defined(SPIENC_DEINIT_DEALLOCATE_HEAP)
+#else
+    // deallocation of internal pointers: none.
     hl_sys_heap_delete((void*)s_hl_spi_theinternals.items[HL_spi_id2index(id)]);
     memset(&s_hl_spi_theinternals.items[HL_spi_id2index(id)], 0, sizeof(hl_spi_internal_item_t*));
+#endif
     return hl_res_OK;
 }