From 6a54944cb15d3a1c594a8ab42e7e3db30ae0886c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?L=C3=A1szl=C3=B3=20Monda?= <laci@monda.hu>
Date: Wed, 13 Dec 2017 01:27:04 +0100
Subject: [PATCH] Make UsbCommand_JumpToModuleBootloader() more robust by not
 making it dependent on the state of the module driver.

---
 lib/agent                                     |  2 +-
 right/src/slave_drivers/uhk_module_driver.c   | 20 +++++++------------
 right/src/slave_drivers/uhk_module_driver.h   |  3 +--
 .../usb_command_jump_to_module_bootloader.c   |  2 +-
 4 files changed, 10 insertions(+), 17 deletions(-)

diff --git a/lib/agent b/lib/agent
index 04b4389..2702a74 160000
--- a/lib/agent
+++ b/lib/agent
@@ -1 +1 @@
-Subproject commit 04b43896c5f929155a0bdd4741294a1703254f89
+Subproject commit 2702a740359c717d922752128d357e2ce7c45b06
diff --git a/right/src/slave_drivers/uhk_module_driver.c b/right/src/slave_drivers/uhk_module_driver.c
index 0cd88da..1bbb0fb 100644
--- a/right/src/slave_drivers/uhk_module_driver.c
+++ b/right/src/slave_drivers/uhk_module_driver.c
@@ -69,6 +69,13 @@ status_t UhkModuleSlaveDriver_Update(uint8_t uhkModuleDriverId)
 
     switch (*uhkModulePhase) {
 
+        // Jump to bootloader
+        case UhkModulePhase_JumpToBootloader:
+            txMessage.data[0] = SlaveCommand_JumpToBootloader;
+            txMessage.length = 1;
+            status = tx(i2cAddress);
+            break;
+
         // Sync communication
         case UhkModulePhase_RequestSync:
             txMessage.data[0] = SlaveCommand_RequestProperty;
@@ -177,19 +184,6 @@ status_t UhkModuleSlaveDriver_Update(uint8_t uhkModuleDriverId)
                 }
             }
             status = kStatus_Uhk_NoTransfer;
-            *uhkModulePhase = UhkModulePhase_JumpToBootloader;
-            break;
-
-        // Jump to bootloader
-        case UhkModulePhase_JumpToBootloader:
-            if (uhkModuleState->jumpToBootloader) {
-                txMessage.data[0] = SlaveCommand_JumpToBootloader;
-                txMessage.length = 1;
-                status = tx(i2cAddress);
-                uhkModuleState->jumpToBootloader = false;
-            } else {
-                status = kStatus_Uhk_NoTransfer;
-            }
             *uhkModulePhase = UhkModulePhase_SetTestLed;
             break;
 
diff --git a/right/src/slave_drivers/uhk_module_driver.h b/right/src/slave_drivers/uhk_module_driver.h
index 5a0f69c..4aa3681 100644
--- a/right/src/slave_drivers/uhk_module_driver.h
+++ b/right/src/slave_drivers/uhk_module_driver.h
@@ -49,9 +49,9 @@
         UhkModulePhase_ProcessKeystates,
 
         // Misc phases
-        UhkModulePhase_JumpToBootloader,
         UhkModulePhase_SetTestLed,
         UhkModulePhase_SetLedPwmBrightness,
+        UhkModulePhase_JumpToBootloader,
 
     } uhk_module_phase_t;
 
@@ -70,7 +70,6 @@
         uint8_t firmwareI2cAddress;
         uint8_t bootloaderI2cAddress;
         uhk_module_features_t features;
-        bool jumpToBootloader;
     } uhk_module_state_t;
 
     typedef struct {
diff --git a/right/src/usb_commands/usb_command_jump_to_module_bootloader.c b/right/src/usb_commands/usb_command_jump_to_module_bootloader.c
index cd2aa08..2dfa08e 100644
--- a/right/src/usb_commands/usb_command_jump_to_module_bootloader.c
+++ b/right/src/usb_commands/usb_command_jump_to_module_bootloader.c
@@ -13,5 +13,5 @@ void UsbCommand_JumpToModuleBootloader(void)
     }
 
     uint8_t uhkModuleDriverId = SLOT_ID_TO_UHK_MODULE_DRIVER_ID(slotId);
-    UhkModuleStates[uhkModuleDriverId].jumpToBootloader = true;
+    UhkModuleStates[uhkModuleDriverId].phase = UhkModulePhase_JumpToBootloader;
 }