diff --git a/src/Makefile b/src/Makefile
index 6d4862d..adc1650 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -21,7 +21,7 @@ CPPFLAGS += -D__MK20DX256__ -DTEENSYDUINO=128
 
 include ../build_scripts/Teensy.mk
 
-TEENSY_LOADER_CLI = ~/hardware/teensy_loader_cli/teensy_loader_cli
+TEENSY_LOADER_CLI = ../teensy_loader_cli/teensy_loader_cli
 REBOOT_TEENSY = stty -f $(MONITOR_PORT) 134
 
 burn:
diff --git a/teensy_loader_cli/.gitignore b/teensy_loader_cli/.gitignore
new file mode 100644
index 0000000..b1d0905
--- /dev/null
+++ b/teensy_loader_cli/.gitignore
@@ -0,0 +1 @@
+teensy_loader_cli
diff --git a/teensy_loader_cli/Makefile b/teensy_loader_cli/Makefile
new file mode 100644
index 0000000..6956d5d
--- /dev/null
+++ b/teensy_loader_cli/Makefile
@@ -0,0 +1,40 @@
+#OS ?= LINUX
+#OS ?= WINDOWS
+OS ?= MACOSX
+#OS ?= BSD
+
+ifeq ($(OS), LINUX)  # also works on FreeBSD
+CC ?= gcc
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli: teensy_loader_cli.c
+	$(CC) $(CFLAGS) -s -DUSE_LIBUSB -o teensy_loader_cli teensy_loader_cli.c -lusb
+
+
+else ifeq ($(OS), WINDOWS)
+CC = i586-mingw32msvc-gcc
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli.exe: teensy_loader_cli.c
+	$(CC) $(CFLAGS) -s -DUSE_WIN32 -o teensy_loader_cli.exe teensy_loader_cli.c -lhid -lsetupapi
+
+
+else ifeq ($(OS), MACOSX)
+CC ?= gcc
+SDK ?= $(shell xcrun --show-sdk-path)
+#SDK ?= /Developer/SDKs/MacOSX10.5.sdk  # the old way...
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli: teensy_loader_cli.c
+	$(CC) $(CFLAGS) -DUSE_APPLE_IOKIT -isysroot $(SDK) -o teensy_loader_cli teensy_loader_cli.c -Wl,-syslibroot,$(SDK) -framework IOKit -framework CoreFoundation
+
+
+else ifeq ($(OS), BSD)  # works on NetBSD and OpenBSD
+CC ?= gcc
+CFLAGS ?= -O2 -Wall
+teensy_loader_cli: teensy_loader_cli.c
+	$(CC) $(CFLAGS) -s -DUSE_UHID -o teensy_loader_cli teensy_loader_cli.c
+
+
+endif
+
+
+clean:
+	rm -f teensy_loader_cli teensy_loader_cli.exe
diff --git a/teensy_loader_cli/Makefile.bsd b/teensy_loader_cli/Makefile.bsd
new file mode 100644
index 0000000..2aea86d
--- /dev/null
+++ b/teensy_loader_cli/Makefile.bsd
@@ -0,0 +1,21 @@
+OS ?= FreeBSD
+#OS ?= NetBSD
+#OS ?= OpenBSD
+
+CFLAGS ?= -O2 -Wall
+CC ?= gcc
+
+.if $(OS) == "FreeBSD"
+CFLAGS += -DUSE_LIBUSB
+LIBS =  -lusb
+.elif $(OS) == "NetBSD" || $(OS) == "OpenBSD"
+CFLAGS += -DUSE_UHID
+LIBS =
+.endif
+
+
+teensy_loader_cli: teensy_loader_cli.c
+	$(CC) $(CFLAGS) -s -o teensy_loader_cli teensy_loader_cli.c $(LIBS)
+
+clean:
+	rm -f teensy_loader_cli
diff --git a/teensy_loader_cli/README.md b/teensy_loader_cli/README.md
new file mode 100644
index 0000000..edf2864
--- /dev/null
+++ b/teensy_loader_cli/README.md
@@ -0,0 +1,8 @@
+#Teensy Loader - Command Line Version#
+
+The Teensy Loader is available in a command line version for advanced users who want to automate programming, typically using a Makefile. For most uses, the graphical version in Automatic Mode is much easier. 
+
+http://www.pjrc.com/teensy/loader_cli.html
+
+![Teensy 3.1](http://www.pjrc.com/teensy/teensy31_front_small_green.jpg)
+
diff --git a/teensy_loader_cli/blink_slow_Teensy3.hex b/teensy_loader_cli/blink_slow_Teensy3.hex
new file mode 100644
index 0000000..bf064b2
--- /dev/null
+++ b/teensy_loader_cli/blink_slow_Teensy3.hex
@@ -0,0 +1,767 @@
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diff --git a/teensy_loader_cli/blink_slow_Teensy31.hex b/teensy_loader_cli/blink_slow_Teensy31.hex
new file mode 100644
index 0000000..981b713
--- /dev/null
+++ b/teensy_loader_cli/blink_slow_Teensy31.hex
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diff --git a/teensy_loader_cli/blink_slow_TeensyLC.hex b/teensy_loader_cli/blink_slow_TeensyLC.hex
new file mode 100644
index 0000000..36dfc1f
--- /dev/null
+++ b/teensy_loader_cli/blink_slow_TeensyLC.hex
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diff --git a/teensy_loader_cli/blinky-at90usb1286.hex b/teensy_loader_cli/blinky-at90usb1286.hex
new file mode 100644
index 0000000..b9bbe56
--- /dev/null
+++ b/teensy_loader_cli/blinky-at90usb1286.hex
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diff --git a/teensy_loader_cli/blinky-at90usb162.hex b/teensy_loader_cli/blinky-at90usb162.hex
new file mode 100644
index 0000000..400df52
--- /dev/null
+++ b/teensy_loader_cli/blinky-at90usb162.hex
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diff --git a/teensy_loader_cli/blinky-at90usb646.hex b/teensy_loader_cli/blinky-at90usb646.hex
new file mode 100644
index 0000000..1e5b9c0
--- /dev/null
+++ b/teensy_loader_cli/blinky-at90usb646.hex
@@ -0,0 +1,120 @@
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diff --git a/teensy_loader_cli/blinky-atmega32u4.hex b/teensy_loader_cli/blinky-atmega32u4.hex
new file mode 100644
index 0000000..a690b74
--- /dev/null
+++ b/teensy_loader_cli/blinky-atmega32u4.hex
@@ -0,0 +1,121 @@
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diff --git a/teensy_loader_cli/gpl3.txt b/teensy_loader_cli/gpl3.txt
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/teensy_loader_cli/gpl3.txt
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
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+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
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+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
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+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy.  The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+  To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy.  Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+  To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies.  Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+  An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License.  If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+  1. Source Code.
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+The hypothetical commands `show w' and `show c' should show the appropriate
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diff --git a/teensy_loader_cli/teensy_loader_cli.c b/teensy_loader_cli/teensy_loader_cli.c
new file mode 100644
index 0000000..20ab3ad
--- /dev/null
+++ b/teensy_loader_cli/teensy_loader_cli.c
@@ -0,0 +1,1144 @@
+/* Teensy Loader, Command Line Interface
+ * Program and Reboot Teensy Board with HalfKay Bootloader
+ * http://www.pjrc.com/teensy/loader_cli.html
+ * Copyright 2008-2010, PJRC.COM, LLC
+ *
+ * You may redistribute this program and/or modify it under the terms
+ * of the GNU General Public License as published by the Free Software
+ * Foundation, version 3 of the License.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see http://www.gnu.org/licenses/
+ */
+
+/* Want to incorporate this code into a proprietary application??
+ * Just email paul@pjrc.com to ask.  Usually it's not a problem,
+ * but you do need to ask to use this code in any way other than
+ * those permitted by the GNU General Public License, version 3  */
+
+/* For non-root permissions on ubuntu or similar udev-based linux
+ * http://www.pjrc.com/teensy/49-teensy.rules
+ */
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <string.h>
+#include <unistd.h>
+
+void usage(const char *err)
+{
+	if(err != NULL) fprintf(stderr, "%s\n\n", err);
+	fprintf(stderr,
+		"Usage: teensy_loader_cli --mcu=<MCU> [-w] [-h] [-n] [-b] [-v] <file.hex>\n"
+		"\t-w : Wait for device to appear\n"
+		"\t-r : Use hard reboot if device not online\n"
+		"\t-s : Use soft reboot if device not online (Teensy3.x only)\n"
+		"\t-n : No reboot after programming\n"
+		"\t-b : Boot only, do not program\n"
+		"\t-v : Verbose output\n"
+		"\nUse `teensy_loader_cli --list-mcus` to list supported MCUs.\n"
+		"\nFor more information, please visit:\n"
+		"http://www.pjrc.com/teensy/loader_cli.html\n");
+	exit(1);
+}
+
+// USB Access Functions
+int teensy_open(void);
+int teensy_write(void *buf, int len, double timeout);
+void teensy_close(void);
+int hard_reboot(void);
+int soft_reboot(void);
+
+// Intel Hex File Functions
+int read_intel_hex(const char *filename);
+int ihex_bytes_within_range(int begin, int end);
+void ihex_get_data(int addr, int len, unsigned char *bytes);
+int memory_is_blank(int addr, int block_size);
+
+// Misc stuff
+int printf_verbose(const char *format, ...);
+void delay(double seconds);
+void die(const char *str, ...);
+void parse_options(int argc, char **argv);
+void boot(unsigned char *buf, int write_size);
+
+// options (from user via command line args)
+int wait_for_device_to_appear = 0;
+int hard_reboot_device = 0;
+int soft_reboot_device = 0;
+int reboot_after_programming = 1;
+int verbose = 0;
+int boot_only = 0;
+int code_size = 0, block_size = 0;
+const char *filename=NULL;
+
+
+/****************************************************************/
+/*                                                              */
+/*                       Main Program                           */
+/*                                                              */
+/****************************************************************/
+
+int main(int argc, char **argv)
+{
+	unsigned char buf[2048];
+	int num, addr, r, write_size=block_size+2;
+	int first_block=1, waited=0;
+
+	// parse command line arguments
+	parse_options(argc, argv);
+	if (!filename && !boot_only) {
+		usage("Filename must be specified");
+	}
+	if (!code_size) {
+		usage("MCU type must be specified");
+	}
+	printf_verbose("Teensy Loader, Command Line, Version 2.0\n");
+
+	if (boot_only) {
+		if (! teensy_open()) {
+			die("Could not find HalfKay");
+		}
+		printf_verbose("Found HalfKay Bootloader\n");
+
+		boot(buf, block_size+2);
+		exit(0);
+	}
+
+	// read the intel hex file
+	// this is done first so any error is reported before using USB
+	num = read_intel_hex(filename);
+	if (num < 0) die("error reading intel hex file \"%s\"", filename);
+	printf_verbose("Read \"%s\": %d bytes, %.1f%% usage\n",
+		filename, num, (double)num / (double)code_size * 100.0);
+
+	// open the USB device
+	while (1) {
+		if (teensy_open()) break;
+		if (hard_reboot_device) {
+			if (!hard_reboot()) die("Unable to find rebootor\n");
+			printf_verbose("Hard Reboot performed\n");
+			hard_reboot_device = 0; // only hard reboot once
+			wait_for_device_to_appear = 1;
+		}
+		if (soft_reboot_device) {
+			if (soft_reboot()) {
+				printf_verbose("Soft reboot performed\n");
+			}
+			soft_reboot_device = 0;
+			wait_for_device_to_appear = 1;
+		}
+		if (!wait_for_device_to_appear) die("Unable to open device\n");
+		if (!waited) {
+			printf_verbose("Waiting for Teensy device...\n");
+			printf_verbose(" (hint: press the reset button)\n");
+			waited = 1;
+		}
+		delay(0.25);
+	}
+	printf_verbose("Found HalfKay Bootloader\n");
+
+	// if we waited for the device, read the hex file again
+	// perhaps it changed while we were waiting?
+	if (waited) {
+		num = read_intel_hex(filename);
+		if (num < 0) die("error reading intel hex file \"%s\"", filename);
+		printf_verbose("Read \"%s\": %d bytes, %.1f%% usage\n",
+		 	filename, num, (double)num / (double)code_size * 100.0);
+	}
+
+	// program the data
+	printf_verbose("Programming");
+	fflush(stdout);
+	for (addr = 0; addr < code_size; addr += block_size) {
+		if (!first_block && !ihex_bytes_within_range(addr, addr + block_size - 1)) {
+			// don't waste time on blocks that are unused,
+			// but always do the first one to erase the chip
+			continue;
+		}
+		if (!first_block && memory_is_blank(addr, block_size)) continue;
+		printf_verbose(".");
+		if (block_size <= 256 && code_size < 0x10000) {
+			buf[0] = addr & 255;
+			buf[1] = (addr >> 8) & 255;
+			ihex_get_data(addr, block_size, buf + 2);
+			write_size = block_size + 2;
+		} else if (block_size == 256) {
+			buf[0] = (addr >> 8) & 255;
+			buf[1] = (addr >> 16) & 255;
+			ihex_get_data(addr, block_size, buf + 2);
+			write_size = block_size + 2;
+		} else if (block_size == 512 || block_size == 1024) {
+			buf[0] = addr & 255;
+			buf[1] = (addr >> 8) & 255;
+			buf[2] = (addr >> 16) & 255;
+			memset(buf + 3, 0, 61);
+			ihex_get_data(addr, block_size, buf + 64);
+			write_size = block_size + 64;
+		} else {
+			die("Unknown code/block size\n");
+		}
+		r = teensy_write(buf, write_size, first_block ? 3.0 : 0.25);
+		if (!r) die("error writing to Teensy\n");
+		first_block = 0;
+	}
+	printf_verbose("\n");
+
+	// reboot to the user's new code
+	if (reboot_after_programming) {
+		boot(buf, write_size);
+	}
+	teensy_close();
+	return 0;
+}
+
+
+
+
+/****************************************************************/
+/*                                                              */
+/*             USB Access - libusb (Linux & FreeBSD)            */
+/*                                                              */
+/****************************************************************/
+
+#if defined(USE_LIBUSB)
+
+// http://libusb.sourceforge.net/doc/index.html
+#include <usb.h>
+
+usb_dev_handle * open_usb_device(int vid, int pid)
+{
+	struct usb_bus *bus;
+	struct usb_device *dev;
+	usb_dev_handle *h;
+	char buf[128];
+	int r;
+
+	usb_init();
+	usb_find_busses();
+	usb_find_devices();
+	//printf_verbose("\nSearching for USB device:\n");
+	for (bus = usb_get_busses(); bus; bus = bus->next) {
+		for (dev = bus->devices; dev; dev = dev->next) {
+			//printf_verbose("bus \"%s\", device \"%s\" vid=%04X, pid=%04X\n",
+			//	bus->dirname, dev->filename,
+			//	dev->descriptor.idVendor,
+			//	dev->descriptor.idProduct
+			//);
+			if (dev->descriptor.idVendor != vid) continue;
+			if (dev->descriptor.idProduct != pid) continue;
+			h = usb_open(dev);
+			if (!h) {
+				printf_verbose("Found device but unable to open\n");
+				continue;
+			}
+			#ifdef LIBUSB_HAS_GET_DRIVER_NP
+			r = usb_get_driver_np(h, 0, buf, sizeof(buf));
+			if (r >= 0) {
+				r = usb_detach_kernel_driver_np(h, 0);
+				if (r < 0) {
+					usb_close(h);
+					printf_verbose("Device is in use by \"%s\" driver\n", buf);
+					continue;
+				}
+			}
+			#endif
+			// Mac OS-X - removing this call to usb_claim_interface() might allow
+			// this to work, even though it is a clear misuse of the libusb API.
+			// normally Apple's IOKit should be used on Mac OS-X
+			// r = usb_claim_interface(h, 0);
+			// if (r < 0) {
+			// 	usb_close(h);
+			// 	printf_verbose("Unable to claim interface, check USB permissions\n");
+			// 	continue;
+			// }
+			return h;
+		}
+	}
+	return NULL;
+}
+
+static usb_dev_handle *libusb_teensy_handle = NULL;
+
+int teensy_open(void)
+{
+	teensy_close();
+	libusb_teensy_handle = open_usb_device(0x16C0, 0x0478);
+	if (libusb_teensy_handle) return 1;
+	return 0;
+}
+
+int teensy_write(void *buf, int len, double timeout)
+{
+	int r;
+
+	if (!libusb_teensy_handle) return 0;
+	while (timeout > 0) {
+		r = usb_control_msg(libusb_teensy_handle, 0x21, 9, 0x0200, 0,
+			(char *)buf, len, (int)(timeout * 1000.0));
+		if (r >= 0) return 1;
+		//printf("teensy_write, r=%d\n", r);
+		usleep(10000);
+		timeout -= 0.01;  // TODO: subtract actual elapsed time
+	}
+	return 0;
+}
+
+void teensy_close(void)
+{
+	if (!libusb_teensy_handle) return;
+	usb_release_interface(libusb_teensy_handle, 0);
+	usb_close(libusb_teensy_handle);
+	libusb_teensy_handle = NULL;
+}
+
+int hard_reboot(void)
+{
+	usb_dev_handle *rebootor;
+	int r;
+
+	rebootor = open_usb_device(0x16C0, 0x0477);
+	if (!rebootor) return 0;
+	r = usb_control_msg(rebootor, 0x21, 9, 0x0200, 0, "reboot", 6, 100);
+	usb_release_interface(rebootor, 0);
+	usb_close(rebootor);
+	if (r < 0) return 0;
+	return 1;
+}
+
+int soft_reboot(void)
+{
+	usb_dev_handle *serial_handle = NULL;
+
+	serial_handle = open_usb_device(0x16C0, 0x0483);
+	if (!serial_handle) {
+		char *error = usb_strerror();
+		printf("Error opening USB device: %s\n", error);
+		return 0;
+	}
+
+	char reboot_command = 134;
+	int response = usb_control_msg(serial_handle, 0x21, 0x20, 0, 0, &reboot_command, 1, 10000);
+
+	usb_release_interface(serial_handle, 0);
+	usb_close(serial_handle);
+
+	if (response < 0) {
+		char *error = usb_strerror();
+		printf("Unable to soft reboot with USB error: %s\n", error);
+		return 0;
+	}
+
+	return 1;
+}
+
+#endif
+
+
+/****************************************************************/
+/*                                                              */
+/*               USB Access - Microsoft WIN32                   */
+/*                                                              */
+/****************************************************************/
+
+#if defined(USE_WIN32)
+
+// http://msdn.microsoft.com/en-us/library/ms790932.aspx
+#include <windows.h>
+#include <setupapi.h>
+#include <ddk/hidsdi.h>
+#include <ddk/hidclass.h>
+
+HANDLE open_usb_device(int vid, int pid)
+{
+	GUID guid;
+	HDEVINFO info;
+	DWORD index, required_size;
+	SP_DEVICE_INTERFACE_DATA iface;
+	SP_DEVICE_INTERFACE_DETAIL_DATA *details;
+	HIDD_ATTRIBUTES attrib;
+	HANDLE h;
+	BOOL ret;
+
+	HidD_GetHidGuid(&guid);
+	info = SetupDiGetClassDevs(&guid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);
+	if (info == INVALID_HANDLE_VALUE) return NULL;
+	for (index=0; 1 ;index++) {
+		iface.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
+		ret = SetupDiEnumDeviceInterfaces(info, NULL, &guid, index, &iface);
+		if (!ret) {
+			SetupDiDestroyDeviceInfoList(info);
+			break;
+		}
+		SetupDiGetInterfaceDeviceDetail(info, &iface, NULL, 0, &required_size, NULL);
+		details = (SP_DEVICE_INTERFACE_DETAIL_DATA *)malloc(required_size);
+		if (details == NULL) continue;
+		memset(details, 0, required_size);
+		details->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
+		ret = SetupDiGetDeviceInterfaceDetail(info, &iface, details,
+			required_size, NULL, NULL);
+		if (!ret) {
+			free(details);
+			continue;
+		}
+		h = CreateFile(details->DevicePath, GENERIC_READ|GENERIC_WRITE,
+			FILE_SHARE_READ|FILE_SHARE_WRITE, NULL, OPEN_EXISTING,
+			FILE_FLAG_OVERLAPPED, NULL);
+		free(details);
+		if (h == INVALID_HANDLE_VALUE) continue;
+		attrib.Size = sizeof(HIDD_ATTRIBUTES);
+		ret = HidD_GetAttributes(h, &attrib);
+		if (!ret) {
+			CloseHandle(h);
+			continue;
+		}
+		if (attrib.VendorID != vid || attrib.ProductID != pid) {
+			CloseHandle(h);
+			continue;
+		}
+		SetupDiDestroyDeviceInfoList(info);
+		return h;
+	}
+	return NULL;
+}
+
+int write_usb_device(HANDLE h, void *buf, int len, int timeout)
+{
+	static HANDLE event = NULL;
+	unsigned char tmpbuf[1040];
+	OVERLAPPED ov;
+	DWORD n, r;
+
+	if (len > sizeof(tmpbuf) - 1) return 0;
+	if (event == NULL) {
+		event = CreateEvent(NULL, TRUE, TRUE, NULL);
+		if (!event) return 0;
+	}
+	ResetEvent(&event);
+	memset(&ov, 0, sizeof(ov));
+	ov.hEvent = event;
+	tmpbuf[0] = 0;
+	memcpy(tmpbuf + 1, buf, len);
+	if (!WriteFile(h, tmpbuf, len + 1, NULL, &ov)) {
+		if (GetLastError() != ERROR_IO_PENDING) return 0;
+		r = WaitForSingleObject(event, timeout);
+		if (r == WAIT_TIMEOUT) {
+			CancelIo(h);
+			return 0;
+		}
+		if (r != WAIT_OBJECT_0) return 0;
+	}
+	if (!GetOverlappedResult(h, &ov, &n, FALSE)) return 0;
+	if (n <= 0) return 0;
+	return 1;
+}
+
+void print_win32_err(void)
+{
+        char buf[256];
+        DWORD err;
+
+        err = GetLastError();
+        FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, err,
+                0, buf, sizeof(buf), NULL);
+        printf("err %ld: %s\n", err, buf);
+}
+
+static HANDLE win32_teensy_handle = NULL;
+
+int teensy_open(void)
+{
+	teensy_close();
+	win32_teensy_handle = open_usb_device(0x16C0, 0x0478);
+	if (win32_teensy_handle) return 1;
+	return 0;
+}
+
+int teensy_write(void *buf, int len, double timeout)
+{
+	int r;
+	if (!win32_teensy_handle) return 0;
+	r = write_usb_device(win32_teensy_handle, buf, len, (int)(timeout * 1000.0));
+	//if (!r) print_win32_err();
+	return r;
+}
+
+void teensy_close(void)
+{
+	if (!win32_teensy_handle) return;
+	CloseHandle(win32_teensy_handle);
+	win32_teensy_handle = NULL;
+}
+
+int hard_reboot(void)
+{
+	HANDLE rebootor;
+	int r;
+
+	rebootor = open_usb_device(0x16C0, 0x0477);
+	if (!rebootor) return 0;
+	r = write_usb_device(rebootor, "reboot", 6, 100);
+	CloseHandle(rebootor);
+	return r;
+}
+
+int soft_reboot(void)
+{
+	printf("Soft reboot is not implemented for Win32\n");
+	return 0;
+}
+
+#endif
+
+
+
+/****************************************************************/
+/*                                                              */
+/*             USB Access - Apple's IOKit, Mac OS-X             */
+/*                                                              */
+/****************************************************************/
+
+#if defined(USE_APPLE_IOKIT)
+
+// http://developer.apple.com/technotes/tn2007/tn2187.html
+#include <IOKit/IOKitLib.h>
+#include <IOKit/hid/IOHIDLib.h>
+#include <IOKit/hid/IOHIDDevice.h>
+
+struct usb_list_struct {
+	IOHIDDeviceRef ref;
+	int pid;
+	int vid;
+	struct usb_list_struct *next;
+};
+
+static struct usb_list_struct *usb_list=NULL;
+static IOHIDManagerRef hid_manager=NULL;
+
+void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
+{
+	CFTypeRef type;
+	struct usb_list_struct *n, *p;
+	int32_t pid, vid;
+
+	if (!dev) return;
+	type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDVendorIDKey));
+	if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
+	if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &vid)) return;
+	type = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDProductIDKey));
+	if (!type || CFGetTypeID(type) != CFNumberGetTypeID()) return;
+	if (!CFNumberGetValue((CFNumberRef)type, kCFNumberSInt32Type, &pid)) return;
+	n = (struct usb_list_struct *)malloc(sizeof(struct usb_list_struct));
+	if (!n) return;
+	//printf("attach callback: vid=%04X, pid=%04X\n", vid, pid);
+	n->ref = dev;
+	n->vid = vid;
+	n->pid = pid;
+	n->next = NULL;
+	if (usb_list == NULL) {
+		usb_list = n;
+	} else {
+		for (p = usb_list; p->next; p = p->next) ;
+		p->next = n;
+	}
+}
+
+void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
+{
+	struct usb_list_struct *p, *tmp, *prev=NULL;
+
+	p = usb_list;
+	while (p) {
+		if (p->ref == dev) {
+			if (prev) {
+				prev->next = p->next;
+			} else {
+				usb_list = p->next;
+			}
+			tmp = p;
+			p = p->next;
+			free(tmp);
+		} else {
+			prev = p;
+			p = p->next;
+		}
+	}
+}
+
+void init_hid_manager(void)
+{
+	CFMutableDictionaryRef dict;
+	IOReturn ret;
+
+	if (hid_manager) return;
+	hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
+	if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
+		if (hid_manager) CFRelease(hid_manager);
+		printf_verbose("no HID Manager - maybe this is a pre-Leopard (10.5) system?\n");
+		return;
+	}
+	dict = CFDictionaryCreateMutable(kCFAllocatorDefault, 0,
+		&kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
+	if (!dict) return;
+	IOHIDManagerSetDeviceMatching(hid_manager, dict);
+	CFRelease(dict);
+	IOHIDManagerScheduleWithRunLoop(hid_manager, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
+	IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, attach_callback, NULL);
+	IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
+	ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
+	if (ret != kIOReturnSuccess) {
+		IOHIDManagerUnscheduleFromRunLoop(hid_manager,
+			CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
+		CFRelease(hid_manager);
+		printf_verbose("Error opening HID Manager\n");
+	}
+}
+
+static void do_run_loop(void)
+{
+	while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
+}
+
+IOHIDDeviceRef open_usb_device(int vid, int pid)
+{
+	struct usb_list_struct *p;
+	IOReturn ret;
+
+	init_hid_manager();
+	do_run_loop();
+	for (p = usb_list; p; p = p->next) {
+		if (p->vid == vid && p->pid == pid) {
+			ret = IOHIDDeviceOpen(p->ref, kIOHIDOptionsTypeNone);
+			if (ret == kIOReturnSuccess) return p->ref;
+		}
+	}
+	return NULL;
+}
+
+void close_usb_device(IOHIDDeviceRef dev)
+{
+	struct usb_list_struct *p;
+
+	do_run_loop();
+	for (p = usb_list; p; p = p->next) {
+		if (p->ref == dev) {
+			IOHIDDeviceClose(dev, kIOHIDOptionsTypeNone);
+			return;
+		}
+	}
+}
+
+static IOHIDDeviceRef iokit_teensy_reference = NULL;
+
+int teensy_open(void)
+{
+	teensy_close();
+	iokit_teensy_reference = open_usb_device(0x16C0, 0x0478);
+	if (iokit_teensy_reference) return 1;
+	return 0;
+}
+
+int teensy_write(void *buf, int len, double timeout)
+{
+	IOReturn ret;
+
+	// timeouts do not work on OS-X
+	// IOHIDDeviceSetReportWithCallback is not implemented
+	// even though Apple documents it with a code example!
+	// submitted to Apple on 22-sep-2009, problem ID 7245050
+	if (!iokit_teensy_reference) return 0;
+
+    double start = CFAbsoluteTimeGetCurrent();
+    while (CFAbsoluteTimeGetCurrent() - timeout < start) {
+		ret = IOHIDDeviceSetReport(iokit_teensy_reference,
+			kIOHIDReportTypeOutput, 0, buf, len);
+		if (ret == kIOReturnSuccess) return 1;
+		usleep(10000);
+    }
+
+	return 0;
+}
+
+void teensy_close(void)
+{
+	if (!iokit_teensy_reference) return;
+	close_usb_device(iokit_teensy_reference);
+	iokit_teensy_reference = NULL;
+}
+
+int hard_reboot(void)
+{
+	IOHIDDeviceRef rebootor;
+	IOReturn ret;
+
+	rebootor = open_usb_device(0x16C0, 0x0477);
+	if (!rebootor) return 0;
+	ret = IOHIDDeviceSetReport(rebootor,
+		kIOHIDReportTypeOutput, 0, (uint8_t *)("reboot"), 6);
+	close_usb_device(rebootor);
+	if (ret == kIOReturnSuccess) return 1;
+	return 0;
+}
+
+int soft_reboot(void)
+{
+	printf("Soft reboot is not implemented for OSX\n");
+	return 0;
+}
+
+#endif
+
+
+
+/****************************************************************/
+/*                                                              */
+/*              USB Access - BSD's UHID driver                  */
+/*                                                              */
+/****************************************************************/
+
+#if defined(USE_UHID)
+
+// Thanks to Todd T Fries for help getting this working on OpenBSD
+// and to Chris Kuethe for the initial patch to use UHID.
+
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <dirent.h>
+#include <dev/usb/usb.h>
+#ifndef USB_GET_DEVICEINFO
+#include <dev/usb/usb_ioctl.h>
+#endif
+
+int open_usb_device(int vid, int pid)
+{
+	int r, fd;
+	DIR *dir;
+	struct dirent *d;
+	struct usb_device_info info;
+	char buf[256];
+
+	dir = opendir("/dev");
+	if (!dir) return -1;
+	while ((d = readdir(dir)) != NULL) {
+		if (strncmp(d->d_name, "uhid", 4) != 0) continue;
+		snprintf(buf, sizeof(buf), "/dev/%s", d->d_name);
+		fd = open(buf, O_RDWR);
+		if (fd < 0) continue;
+		r = ioctl(fd, USB_GET_DEVICEINFO, &info);
+		if (r < 0) {
+			// NetBSD: added in 2004
+			// OpenBSD: added November 23, 2009
+			// FreeBSD: missing (FreeBSD 8.0) - USE_LIBUSB works!
+			die("Error: your uhid driver does not support"
+			  " USB_GET_DEVICEINFO, please upgrade!\n");
+			close(fd);
+			closedir(dir);
+			exit(1);
+		}
+		//printf("%s: v=%d, p=%d\n", buf, info.udi_vendorNo, info.udi_productNo);
+		if (info.udi_vendorNo == vid && info.udi_productNo == pid) {
+			closedir(dir);
+			return fd;
+		}
+		close(fd);
+	}
+	closedir(dir);
+	return -1;
+}
+
+static int uhid_teensy_fd = -1;
+
+int teensy_open(void)
+{
+	teensy_close();
+	uhid_teensy_fd = open_usb_device(0x16C0, 0x0478);
+	if (uhid_teensy_fd < 0) return 0;
+	return 1;
+}
+
+int teensy_write(void *buf, int len, double timeout)
+{
+	int r;
+
+	// TODO: imeplement timeout... how??
+	r = write(uhid_teensy_fd, buf, len);
+	if (r == len) return 1;
+	return 0;
+}
+
+void teensy_close(void)
+{
+	if (uhid_teensy_fd >= 0) {
+		close(uhid_teensy_fd);
+		uhid_teensy_fd = -1;
+	}
+}
+
+int hard_reboot(void)
+{
+	int r, rebootor_fd;
+
+	rebootor_fd = open_usb_device(0x16C0, 0x0477);
+	if (rebootor_fd < 0) return 0;
+	r = write(rebootor_fd, "reboot", 6);
+	delay(0.1);
+	close(rebootor_fd);
+	if (r == 6) return 1;
+	return 0;
+}
+
+int soft_reboot(void)
+{
+	printf("Soft reboot is not implemented for UHID\n");
+	return 0;
+}
+
+#endif
+
+
+
+/****************************************************************/
+/*                                                              */
+/*                     Read Intel Hex File                      */
+/*                                                              */
+/****************************************************************/
+
+// the maximum flash image size we can support
+// chips with larger memory may be used, but only this
+// much intel-hex data can be loaded into memory!
+#define MAX_MEMORY_SIZE 0x20000
+
+static unsigned char firmware_image[MAX_MEMORY_SIZE];
+static unsigned char firmware_mask[MAX_MEMORY_SIZE];
+static int end_record_seen=0;
+static int byte_count;
+static unsigned int extended_addr = 0;
+static int parse_hex_line(char *line);
+
+int read_intel_hex(const char *filename)
+{
+	FILE *fp;
+	int i, lineno=0;
+	char buf[1024];
+
+	byte_count = 0;
+	end_record_seen = 0;
+	for (i=0; i<MAX_MEMORY_SIZE; i++) {
+		firmware_image[i] = 0xFF;
+		firmware_mask[i] = 0;
+	}
+	extended_addr = 0;
+
+	fp = fopen(filename, "r");
+	if (fp == NULL) {
+		//printf("Unable to read file %s\n", filename);
+		return -1;
+	}
+	while (!feof(fp)) {
+		*buf = '\0';
+		if (!fgets(buf, sizeof(buf), fp)) break;
+		lineno++;
+		if (*buf) {
+			if (parse_hex_line(buf) == 0) {
+				printf("Warning, HEX parse error line %d\n", lineno);
+				return -2;
+			}
+		}
+		if (end_record_seen) break;
+		if (feof(stdin)) break;
+	}
+	fclose(fp);
+	return byte_count;
+}
+
+
+/* from ihex.c, at http://www.pjrc.com/tech/8051/pm2_docs/intel-hex.html */
+
+/* parses a line of intel hex code, stores the data in bytes[] */
+/* and the beginning address in addr, and returns a 1 if the */
+/* line was valid, or a 0 if an error occured.  The variable */
+/* num gets the number of bytes that were stored into bytes[] */
+
+
+int
+parse_hex_line(char *line)
+{
+	int addr, code, num;
+        int sum, len, cksum, i;
+        char *ptr;
+
+        num = 0;
+        if (line[0] != ':') return 0;
+        if (strlen(line) < 11) return 0;
+        ptr = line+1;
+        if (!sscanf(ptr, "%02x", &len)) return 0;
+        ptr += 2;
+        if ((int)strlen(line) < (11 + (len * 2)) ) return 0;
+        if (!sscanf(ptr, "%04x", &addr)) return 0;
+        ptr += 4;
+          /* printf("Line: length=%d Addr=%d\n", len, addr); */
+        if (!sscanf(ptr, "%02x", &code)) return 0;
+	if (addr + extended_addr + len >= MAX_MEMORY_SIZE) return 0;
+        ptr += 2;
+        sum = (len & 255) + ((addr >> 8) & 255) + (addr & 255) + (code & 255);
+	if (code != 0) {
+		if (code == 1) {
+			end_record_seen = 1;
+			return 1;
+		}
+		if (code == 2 && len == 2) {
+			if (!sscanf(ptr, "%04x", &i)) return 1;
+			ptr += 4;
+			sum += ((i >> 8) & 255) + (i & 255);
+        		if (!sscanf(ptr, "%02x", &cksum)) return 1;
+			if (((sum & 255) + (cksum & 255)) & 255) return 1;
+			extended_addr = i << 4;
+			//printf("ext addr = %05X\n", extended_addr);
+		}
+		if (code == 4 && len == 2) {
+			if (!sscanf(ptr, "%04x", &i)) return 1;
+			ptr += 4;
+			sum += ((i >> 8) & 255) + (i & 255);
+        		if (!sscanf(ptr, "%02x", &cksum)) return 1;
+			if (((sum & 255) + (cksum & 255)) & 255) return 1;
+			extended_addr = i << 16;
+			//printf("ext addr = %08X\n", extended_addr);
+		}
+		return 1;	// non-data line
+	}
+	byte_count += len;
+        while (num != len) {
+                if (sscanf(ptr, "%02x", &i) != 1) return 0;
+		i &= 255;
+		firmware_image[addr + extended_addr + num] = i;
+		firmware_mask[addr + extended_addr + num] = 1;
+                ptr += 2;
+                sum += i;
+                (num)++;
+                if (num >= 256) return 0;
+        }
+        if (!sscanf(ptr, "%02x", &cksum)) return 0;
+        if (((sum & 255) + (cksum & 255)) & 255) return 0; /* checksum error */
+        return 1;
+}
+
+int ihex_bytes_within_range(int begin, int end)
+{
+	int i;
+
+	if (begin < 0 || begin >= MAX_MEMORY_SIZE ||
+	   end < 0 || end >= MAX_MEMORY_SIZE) {
+		return 0;
+	}
+	for (i=begin; i<=end; i++) {
+		if (firmware_mask[i]) return 1;
+	}
+	return 0;
+}
+
+void ihex_get_data(int addr, int len, unsigned char *bytes)
+{
+	int i;
+
+	if (addr < 0 || len < 0 || addr + len >= MAX_MEMORY_SIZE) {
+		for (i=0; i<len; i++) {
+			bytes[i] = 255;
+		}
+		return;
+	}
+	for (i=0; i<len; i++) {
+		if (firmware_mask[addr]) {
+			bytes[i] = firmware_image[addr];
+		} else {
+			bytes[i] = 255;
+		}
+		addr++;
+	}
+}
+
+int memory_is_blank(int addr, int block_size)
+{
+	if (addr < 0 || addr > MAX_MEMORY_SIZE) return 1;
+
+	while (block_size && addr < MAX_MEMORY_SIZE) {
+		if (firmware_mask[addr] && firmware_image[addr] != 255) return 0;
+		addr++;
+		block_size--;
+	}
+	return 1;
+}
+
+
+
+
+/****************************************************************/
+/*                                                              */
+/*                       Misc Functions                         */
+/*                                                              */
+/****************************************************************/
+
+int printf_verbose(const char *format, ...)
+{
+	va_list ap;
+	int r;
+
+	va_start(ap, format);
+	if (verbose) {
+		r = vprintf(format, ap);
+		fflush(stdout);
+		return r;
+	}
+	return 0;
+}
+
+void delay(double seconds)
+{
+	#ifdef WIN32
+	Sleep(seconds * 1000.0);
+	#else
+	usleep(seconds * 1000000.0);
+	#endif
+}
+
+void die(const char *str, ...)
+{
+	va_list  ap;
+
+	va_start(ap, str);
+	vfprintf(stderr, str, ap);
+	fprintf(stderr, "\n");
+	exit(1);
+}
+
+#if defined(WIN32)
+#define strcasecmp stricmp
+#endif
+
+
+static const struct {
+	const char *name;
+	int code_size;
+	int block_size;
+} MCUs[] = {
+	{"at90usb162",   15872,   128},
+	{"atmega32u4",   32256,   128},
+	{"at90usb646",   64512,   256},
+	{"at90usb1286", 130048,   256},
+#if defined(USE_LIBUSB) || defined(USE_APPLE_IOKIT)
+    {"mkl26z64",     63488,   512},
+	{"mk20dx128",   131072,  1024},
+	{"mk20dx256",   262144,  1024},
+#endif
+	{NULL, 0, 0},
+};
+
+
+void list_mcus()
+{
+	int i;
+	printf("Supported MCUs are:\n");
+	for(i=0; MCUs[i].name != NULL; i++)
+		printf(" - %s\n", MCUs[i].name);
+	exit(1);
+}
+
+
+void read_mcu(char *name)
+{
+	int i;
+
+	if(name == NULL) {
+		fprintf(stderr, "No MCU specified.\n");
+		list_mcus();
+	}
+
+	for(i=0; MCUs[i].name != NULL; i++) {
+		if(strcasecmp(name, MCUs[i].name) == 0) {
+			code_size  = MCUs[i].code_size;
+			block_size = MCUs[i].block_size;
+			return;
+		}
+	}
+
+	fprintf(stderr, "Unknown MCU type \"%s\"\n", name);
+	list_mcus();
+}
+
+
+void parse_flag(char *arg)
+{
+	int i;
+	for(i=1; arg[i]; i++) {
+		switch(arg[i]) {
+			case 'w': wait_for_device_to_appear = 1; break;
+			case 'r': hard_reboot_device = 1; break;
+			case 's': soft_reboot_device = 1; break;
+			case 'n': reboot_after_programming = 0; break;
+			case 'v': verbose = 1; break;
+			case 'b': boot_only = 1; break;
+			default:
+				fprintf(stderr, "Unknown flag '%c'\n\n", arg[i]);
+				usage(NULL);
+		}
+	}
+}
+
+
+void parse_options(int argc, char **argv)
+{
+	int i;
+	char *arg;
+
+	for (i=1; i<argc; i++) {
+		arg = argv[i];
+
+		//backward compatibility with previous versions.
+		if(strncmp(arg, "-mmcu=", 6) == 0) {
+			read_mcu(strchr(arg, '=') + 1);
+		}
+
+		else if(arg[0] == '-') {
+			if(arg[1] == '-') {
+				char *name = &arg[2];
+				char *val  = strchr(name, '=');
+				if(val == NULL) {
+					//value must be the next string.
+					val = argv[++i];
+				}
+				else {
+					//we found an =, so split the string at it.
+					*val = '\0';
+					 val = &val[1];
+				}
+
+				if(strcasecmp(name, "help") == 0) usage(NULL);
+				else if(strcasecmp(name, "mcu") == 0) read_mcu(val);
+				else if(strcasecmp(name, "list-mcus") == 0) list_mcus();
+				else {
+					fprintf(stderr, "Unknown option \"%s\"\n\n", arg);
+					usage(NULL);
+				}
+			}
+			else parse_flag(arg);
+		}
+		else filename = arg;
+	}
+}
+
+void boot(unsigned char *buf, int write_size)
+{
+	printf_verbose("Booting\n");
+	memset(buf, 0, write_size);
+	buf[0] = 0xFF;
+	buf[1] = 0xFF;
+	buf[2] = 0xFF;
+	teensy_write(buf, write_size, 0.25);
+}