coap_cleanup: Allow coap_startup() to be called after coap_cleanup() #2089

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Job	Run time
cmake-build (no)	49s
cmake-build (openssl)	41s
cmake-build (gnutls)	43s
cmake-build (mbedtls)	23s
cmake-build (tinydtls)	33s
build-linux (gcc, no)	48s
build-linux (gcc, openssl)	46s
build-linux (gcc, gnutls)	49s
build-linux (gcc, mbedtls)	48s
build-linux (clang, no)	46s
build-linux (clang, openssl)	32s
build-linux (clang, gnutls)	40s
build-linux (clang, mbedtls)	43s
cmake-macos	29s
documentation	3m 4s
mingw-cmake	2m 29s
ms-build	1m 32s
additional-tests	55s
ms-cmake	2m 30s
other-build (contiki)	1m 12s
other-build (lwip)	1m 23s
other-build (riot)	1m 30s
tinydtls-build	1m 43s
distribution	2m 32s
pre-commit	17s
	28m 37s