From e58ad87ed27a2c2699d872f36072e4730325616d Mon Sep 17 00:00:00 2001
From: Josh Stewart <josh@noisymime.org>
Date: Thu, 12 Jan 2017 22:33:26 +1100
Subject: [PATCH] Add check to prevent potential crash when switching IAC
 methods (Teensy)

---
 idle.h                  | 1 +
 idle.ino                | 4 +++-
 reference/speeduino.ini | 1 -
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/idle.h b/idle.h
index 5096cf97..e948a683 100644
--- a/idle.h
+++ b/idle.h
@@ -23,6 +23,7 @@ struct table2D iacCrankDutyTable;
 
 struct StepperIdle idleStepper;
 bool idleOn; //Simply tracks whether idle was on last time around
+byte idleInitComplete = 99; //TRacks which idle method was initialised. 99 is a method that will never exist
 unsigned int iacStepTime;
 unsigned int completedHomeSteps;
 
diff --git a/idle.ino b/idle.ino
index f0907b9e..2045fa3a 100644
--- a/idle.ino
+++ b/idle.ino
@@ -110,11 +110,13 @@ void initialiseIdle()
       idleStepper.stepperStatus = SOFF;
       break;
   }
-  
+  idleInitComplete = configPage4.iacAlgorithm; //Sets which idle method was initialised
 }
 
 void idleControl()
 {
+  if(idleInitComplete != configPage4.iacAlgorithm) { initialiseIdle(); }
+  
   switch(configPage4.iacAlgorithm)
   {
     case 0:       //Case 0 is no idle control ('None')
diff --git a/reference/speeduino.ini b/reference/speeduino.ini
index 17bae30b..ead363ff 100644
--- a/reference/speeduino.ini
+++ b/reference/speeduino.ini
@@ -518,7 +518,6 @@ page = 9
     requiresPowerCycle = injOpen
     requiresPowerCycle = IgInv
     requiresPowerCycle = fanInv
-    requiresPowerCycle = iacAlgorithm
     requiresPowerCycle = boostEnabled
     requiresPowerCycle = vvtEnabled
 ;	requiresPowerCycle = vvtChannels