From 7c92de267cd04ebc486772d1cd397af0e4d7b7a6 Mon Sep 17 00:00:00 2001
From: Clemens Elflein <clemens1@familie-elflein.de>
Date: Thu, 31 Oct 2024 00:25:59 +0100
Subject: [PATCH] Feat: Automatically reboot into user program after flashing

---
 bootloader/.idea/workspace.xml |  2 +-
 bootloader/main.c              | 15 +++++++++------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/bootloader/.idea/workspace.xml b/bootloader/.idea/workspace.xml
index 729c55d..453a8e8 100644
--- a/bootloader/.idea/workspace.xml
+++ b/bootloader/.idea/workspace.xml
@@ -167,7 +167,7 @@
       <workItem from="1730246676068" duration="6822000" />
       <workItem from="1730310905822" duration="4227000" />
       <workItem from="1730325273241" duration="1470000" />
-      <workItem from="1730327830005" duration="1007000" />
+      <workItem from="1730327830005" duration="1582000" />
     </task>
     <servers />
   </component>
diff --git a/bootloader/main.c b/bootloader/main.c
index 17e40f2..629c9c4 100644
--- a/bootloader/main.c
+++ b/bootloader/main.c
@@ -164,12 +164,15 @@ int main(void) {
 #endif
   }
 
-  // prevent bootloader from bootloading
-  chMtxLock(&reboot_mutex);
+  while (1) {
+    // make sure we're not currently updating the software
+    chMtxLock(&reboot_mutex);
 
-  jump_to_user_program();
+    jump_to_user_program();
 
-  // allow bootloader to work again, since jumping to user program didn't work
-  chMtxUnlock(&reboot_mutex);
-  chThdSleep(TIME_INFINITE);
+    // allow bootloader to work again, since jumping to user program didn't work
+    chMtxUnlock(&reboot_mutex);
+    // Wait a bit
+    chThdSleep(TIME_MS2I(100));
+  }
 }