1 files changed, 35 insertions, 23 deletions
diff --git a/software/mpu/main.c b/software/mpu/main.c
index 9224531..90c5ef9 100644
--- a/software/mpu/main.c
+++ b/software/mpu/main.c
@@ -36,25 +36,35 @@
 #include "heartbeat.h"
 #include "usb-cdc-shell.h"
 
-static void reboot(void)
+static void sysInit(void)
 {
-  NVIC_SystemReset();
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
 }
 
-static void reset2bootloader(void)
+static void subsystemsInit(void)
 {
-  NVIC_SystemReset();
-      /* TODO: not just reset but go to bootloader */
+  /* call init functions of all subsystems which should spawn threads for their task */
+  heartbeatInit();
 }
 
-static void shutdown(void)
+static void subsystemsStop(void)
 {
   /*  Safely stop critical threads, aka call shutdown functions of all subsystems */
-     /* nothing here. */
+  /*   -> invoke the xxxStop() method on all the active device drivers */
 
-  /*  Invoke the xxxStop() method on all the active device drivers */
-     /* nothing here. */
+     /* nothing here ... for now anyway */
+}
 
+static void sysShutdown(void)
+{
   chSysDisable();
 
   /* Stop the system timer whose service routine invokes chSysTimerHandlerI(). */
@@ -69,29 +79,31 @@ static void shutdown(void)
   chSysEnable();
 }
 
+
+static void reboot(void)
+{
+  NVIC_SystemReset();
+}
+
+static void reset2bootloader(void)
+{
+  NVIC_SystemReset();
+      /* TODO: not just reset but go to bootloader */
+}
+
 /*
  * Application entry point.
  */
 int main(void)
 {
-  /*
-   * System initializations.
-   * - HAL initialization, this also initializes the configured device drivers
-   *   and performs the board-specific initializations.
-   * - Kernel initialization, the main() function becomes a thread and the
-   *   RTOS is active.
-   */
-  halInit();
-  chSysInit();
-  /* the base os is ready now */
-
-  /* call init functions of all subsystems which should spawn threads for their task */
-  heartbeatInit();
+  sysInit();  /* the base os is ready now */
+  subsystemsInit();
 
   int8_t ret = usbCDCShellRun();
   /* the debug shell returned - we have to halt, reboot or goto bootloader */
 
-  shutdown();
+  subsystemsStop();
+  sysShutdown();
   /* the OS is stopped now */
 
   switch(ret) {