diff --git a/board/pedal/main.c b/board/pedal/main.c
index f7c0cc84a5a5c0..4e543c3269ecd5 100644
--- a/board/pedal/main.c
+++ b/board/pedal/main.c
@@ -121,6 +121,13 @@ void CAN1_RX0_IRQHandler() {
     #endif
     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();
+      }
+
+      // normal packet
       uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
       uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
       uint16_t value_0 = (dat[0] << 8) | dat[1];
diff --git a/tests/pedal/enter_canloader.py b/tests/pedal/enter_canloader.py
new file mode 100755
index 00000000000000..ed68eaeb6396de
--- /dev/null
+++ b/tests/pedal/enter_canloader.py
@@ -0,0 +1,8 @@
+#!/usr/bin/env python
+from panda import Panda
+
+if __name__ == "__main__":
+  p = Panda()
+  p.set_safety_mode(0x1337)
+  p.can_send(0x200, "\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0)
+