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By Steve Rodgers
#12610 Does anyone know what is required to make system_restart() reliable reboot to the user application instead of going into boot mode? Sometimes I get the boot loader, while other times it boots normally. This happens even when a GPIO0 pulled up with a 1K resistor. During power up, the system loads the user application correctly.

The documentation is spare in the Espressiv SDK programming guide, as only the calling signature is documented, and nothing is said about what happens when system_restart is called.
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By Steve Rodgers
#12628 I figured it out. The GPIO0 input is only sampled at power on. If you ground this input, the state is remembered across calls to system restart(). That's not the way I would have expected the input to work, but I can avoid the situation by removing the ground jumper after programming, then remove power.