Make jump-to-bootloader.js wait for the UHK and time out.

usb/jump-to-bootloader.js

@@ -1,3 +1,26 @@
 #!/usr/bin/env node
 let uhk = require('./uhk');
-uhk.sendUsbPacket(new Buffer([uhk.usbCommands.jumpToBootloader]));
+
+let timeoutMs = 10000;
+let pollingIntervalMs = 100;
+
+console.log('Trying to jump to the bootloader...');
+setInterval(() => {
+    timeoutMs -= pollingIntervalMs;
+
+    if (uhk.getBootloaderDevice()) {
+        console.log('Bootloader is up');
+        process.exit(0);
+    }
+
+    if (timeoutMs <= 0) {
+        console.log("Couldn't jump to the bootloader");
+        process.exit(1);
+    }
+
+    if (uhk.getUhkDevice()) {
+        console.log('UHK found, jumping to bootloader');
+        uhk.sendUsbPacket(new Buffer([uhk.usbCommands.jumpToBootloader]));
+    }
+
+}, pollingIntervalMs);

usb/uhk.js

@@ -14,11 +14,17 @@ function bufferToString(buffer) {
 
 let usbEndpoints;
 
-function getUsbEndpoints() {
-    let vid = 0x16d3;
-    let pid = 0x05ea;
+function getUhkDevice() {
+    return usb.findByIds(0x16d3, 0x05ea);
+}
 
-    let device = usb.findByIds(vid, pid);
+function getBootloaderDevice() {
+    return usb.findByIds(0x15a2, 0x0073);
+}
+
+function getUsbEndpoints() {
+    let device = getUhkDevice();
+    device = getUhkDevice();
     device.open();
 
     let usbInterface = device.interface(0);
@@ -87,6 +93,8 @@ function sendUsbPackets(packets) {
 exports = module.exports = {
     DelayMs,
     bufferToString,
+    getUhkDevice,
+    getBootloaderDevice,
     getUsbEndpoints,
     sendUsbPacket,
     sendUsbPackets,
@@ -102,7 +110,8 @@ exports = module.exports = {
         readMergeSensor: 7,
         uploadConfig: 8,
         applyConfig: 9,
-        setLedPwm: 10
+        setLedPwm: 10,
+        getBridgeMessageCounter: 11
     },
     leftLedDriverAddress: 0b1110100,
     rightLedDriverAddress: 0b1110111