diff --git a/main.c b/main.c
index 3d61d8e..2cb314c 100644
--- a/main.c
+++ b/main.c
@@ -1,5 +1,6 @@
 #include <libopencm3/cm3/nvic.h>
 #include <libopencm3/cm3/systick.h>
+#include <libopencm3/cm3/scb.h>
 #include <libopencm3/stm32/rcc.h>
 #include <stddef.h>
 #include <stdio.h>
@@ -19,10 +20,15 @@ RINGBUFFER_STORAGE(uart_to_usb_buf, 64)
 RINGBUFFER_STORAGE(comm_in_buf, 64)
 RINGBUFFER_STORAGE(comm_out_buf, 64)
 
+extern uint32_t *_board_dfu_dbl_tap;
+
 static void sys_tick_setup(void);
+static void fast_reset(void);
+static void start_bootloader(void);
+static void erase_app(void);
 
 static void sys_tick_setup() {
-  systick_set_reload(168000);
+  systick_set_reload(168000/2-1);
   systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
   systick_counter_enable();
   systick_interrupt_enable();
@@ -32,6 +38,19 @@ void sys_tick_handler() {
   tick++;
 }
 
+void fast_reset() {
+  *_board_dfu_dbl_tap = 0xf02669ef;
+  scb_reset_system();
+}
+void start_bootloader() {
+  *_board_dfu_dbl_tap = 0xf01669ef;
+  scb_reset_system();
+}
+void erase_app() {
+  *_board_dfu_dbl_tap = 0xf5e80ab4;
+  scb_reset_system();
+}
+
 int main(void) {
 #if 0
   rcc_clock_setup_pll(&rcc_hse_25mhz_3v3[RCC_CLOCK_3V3_84MHZ]);
@@ -44,10 +63,16 @@ int main(void) {
   RINGBUFFER_INIT(comm_in_buf, 64);
   RINGBUFFER_INIT(comm_out_buf, 64);
 
-  usb_setup();
+
+  sys_tick_setup();
+
+  while(tick < 100)
+    ;
+
   adc_setup();
   uart_setup();
-  sys_tick_setup();
+  usb_setup();
+
   buttons_setup();
   encoder_setup();
 
@@ -55,36 +80,67 @@ int main(void) {
 
   uint32_t last_tick = tick;
   int last_pos = 0;
+  int watchdog = 1;
+  int watchdog_counter = 0;
+  int print_changes = 0;
   while (1) {
     /* Handle control messages through the comms CDC */
     char buf[64];
     unsigned buf_len = 0;
 
+    const bool no_comms = watchdog && ringbuffer_empty(usb_to_uart_buf) && ringbuffer_empty(comm_in_buf);
+    if (!no_comms) {
+      watchdog_counter = 0;
+    }
     while (tick != last_tick) {
       buttons_tick();
       last_tick++;
+      watchdog_counter += no_comms;
+    }
+    if (watchdog_counter >= 35000) {
+      fast_reset();
     }
 
     for (char c; ringbuffer_get(comm_in_buf, (void *)&c, 1);) {
       switch (c) {
-        case 'B':
+        case 'B': // Battery
           printf("%lu", (unsigned long)adc_bat_voltage());
           break;
-        case 'O':
+        case 'O': // Open
           buttons_open(button_time);
           break;
-        case 'C':
+        case 'C': // Close
           buttons_close(button_time);
           break;
-        case 'R':
+        case 'R': // Report
           printf("pos: %d", encoder_get());
+          printf("tick: %lu", tick);
+          break;
+        case 'r': // toggle reporting
+          print_changes = !print_changes;
+          printf("pos reporting: %d", print_changes);
+          break;
+        case 'W': // toggle watchdog
+          watchdog = !watchdog;
+          printf("watchdog: %d", watchdog);
+          break;
+        case 'F': // Flash
+          start_bootloader();
+          break;
+        case 'E': // Erase
+          erase_app();
+          break;
+        case 'S': // reStart
+          fast_reset();
           break;
       }
     }
 
     int pos = encoder_get();
     if (pos != last_pos && ringbuffer_empty(comm_out_buf)) {
-      printf("pos: %d", pos);
+      if (print_changes) {
+        printf("pos: %d", pos);
+      }
       last_pos = pos;
     }