Add dispatch loop, copy_to_ram, retry picotool load without sleep

firmware/firmware.cpp

@@ -1,51 +1,11 @@
-#include "pico/stdlib.h"
-#include "tusb.h"
-#include "wire.h"
-#include "usb_cdc.h"
-#include "timer_queue.h"
+#include "dispatch.h"
 #include "handlers.h"
-#include "net.h"
 
-static usb_cdc usb;
-static timer_queue timers;
+static constexpr handler_entry handlers[] = {
+    {RequestPICOBOOT::ext_id, handle_picoboot},
+    {RequestInfo::ext_id, handle_info},
+};
 
 int main() {
-    tusb_init();
-
-    net_init();
-
-    static static_vector<uint8_t, 256> rx_buf;
-
-    while (true) {
-        tud_task();
-
-        usb.drain();
-        timers.run();
-
-        while (tud_cdc_available()) {
-            uint8_t byte;
-            if (tud_cdc_read(&byte, 1) != 1) break;
-
-            rx_buf.push_back(byte);
-
-            auto msg = try_decode(rx_buf);
-            if (!msg) {
-                if (rx_buf.full()) rx_buf.clear();
-                continue;
-            }
-
-            rx_buf.clear();
-
-            switch (msg->type_id) {
-            case RequestPICOBOOT::ext_id:
-                handle_picoboot(usb, msg->message_id);
-                break;
-            case RequestInfo::ext_id:
-                handle_info(usb, msg->message_id);
-                break;
-            }
-        }
-
-        __wfi();
-    }
+    dispatch(handlers);
 }