diff --git a/board/pedal/Makefile b/board/pedal/Makefile
index c922be54b500b6..d6318a3e6d80dd 100644
--- a/board/pedal/Makefile
+++ b/board/pedal/Makefile
@@ -19,11 +19,11 @@ CERT = ../../certs/debug
 CFLAGS += "-DALLOW_DEBUG"
 
 usbflash: obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py
-	sleep 0.5
+	../../tests/pedal/enter_canloader.py; sleep 0.5
 	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
 
 recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
 	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
 	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
 
diff --git a/board/pedal/main.c b/board/pedal/main.c
index 4e543c3269ecd5..f8e8569a8812e6 100644
--- a/board/pedal/main.c
+++ b/board/pedal/main.c
@@ -122,9 +122,14 @@ void CAN1_RX0_IRQHandler() {
     uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
     if (address == CAN_GAS_INPUT) {
       // softloader entry
-      if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface && CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
-        enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
-        NVIC_SystemReset();
+      if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
+        if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+        } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
+          enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+          NVIC_SystemReset();
+        }
       }
 
       // normal packet
diff --git a/tests/pedal/enter_canloader.py b/tests/pedal/enter_canloader.py
index ed68eaeb6396de..1f25068470699a 100755
--- a/tests/pedal/enter_canloader.py
+++ b/tests/pedal/enter_canloader.py
@@ -1,8 +1,18 @@
 #!/usr/bin/env python
+import sys
+import argparse
 from panda import Panda
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Flash pedal over can')
+  parser.add_argument('--recover', action='store_true')
+  args = parser.parse_args()
+
   p = Panda()
   p.set_safety_mode(0x1337)
-  p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
+
+  if args.recover:
+    p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x02", 0)
+  else:
+    p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)