From ac11732a869f57be1280938ab44acfaa0294e2b4 Mon Sep 17 00:00:00 2001
From: JOhn Aughey <jha@aughey.com>
Date: Thu, 28 Apr 2016 12:58:37 -0500
Subject: [PATCH] Separate the initialization and main step into two different
 functions.

For testing, it is useful to have the loop be separated from the
initialization so that an external function can step through the
main loop.
---
 src/main/main.c | 19 ++++++++++++++-----
 1 file changed, 14 insertions(+), 5 deletions(-)

diff --git a/src/main/main.c b/src/main/main.c
index 49fc7c2466..56e9077d4e 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -26,7 +26,6 @@
 
 #include "common/axis.h"
 #include "common/color.h"
-#include "common/atomic.h"
 #include "common/maths.h"
 
 #include "drivers/nvic.h"
@@ -658,7 +657,7 @@ void processLoopback(void) {
 #define processLoopback()
 #endif
 
-int main(void) {
+void main_init(void) {
     init();
 
     /* Setup scheduler */
@@ -729,12 +728,22 @@ int main(void) {
 #ifdef USE_BST
     setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 #endif
+}
 
-    while (1) {
-        scheduler();
-        processLoopback();
+void main_step(void) {
+    scheduler();
+    processLoopback();
+}
+
+#ifndef NOMAIN
+int main(void)
+{
+    main_init();
+    while(1) {
+        main_step();
     }
 }
+#endif
 
 #ifdef DEBUG_HARDFAULTS
 //from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/