diff --git a/board/pedal/Makefile b/board/pedal/Makefile
index ed0ccbd3b031fc..47431d9ed13a41 100644
--- a/board/pedal/Makefile
+++ b/board/pedal/Makefile
@@ -1,31 +1,50 @@
 # :set noet
 PROJ_NAME = comma
 
-CFLAGS  = -O2 -Wall -std=gnu11
+CFLAGS  = -O2 -Wall -std=gnu11 -DPEDAL
 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
 CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
-CFLAGS += -I ../inc -I ../ -nostdlib
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
 CFLAGS += -T../stm32_flash.ld
 
+STARTUP_FILE = startup_stm32f205xx
+
 CC = arm-none-eabi-gcc
 OBJCOPY = arm-none-eabi-objcopy
 OBJDUMP = arm-none-eabi-objdump
+DFU_UTIL = "dfu-util"
+
+# pedal only uses the debug cert
+CERT = ../../certs/debug
+CFLAGS += "-DALLOW_DEBUG"
 
-all: obj/$(PROJ_NAME).bin
-	#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
-	dfu-util -d 0483:df11 -a 0 -s 0x08000000:leave -D $<
+all: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
 
 obj/main.o: main.c ../*.h
 	mkdir -p obj
 	$(CC) $(CFLAGS) -o $@ -c $<
 
-obj/startup_stm32f205xx.o: ../startup_stm32f205xx.s
+obj/bootstub.o: ../bootstub.c ../*.h
 	mkdir -p obj
 	$(CC) $(CFLAGS) -o $@ -c $<
 
-obj/$(PROJ_NAME).bin: obj/startup_stm32f205xx.o obj/main.o
-	$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
-	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
+obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.o: ../../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
 	
 clean:
 	rm -f obj/*
diff --git a/board/pedal/main.c b/board/pedal/main.c
index fe281f32bc1ded..f7c0cc84a5a5c0 100644
--- a/board/pedal/main.c
+++ b/board/pedal/main.c
@@ -2,8 +2,6 @@
 //#define CAN_LOOPBACK_MODE
 //#define USE_INTERNAL_OSC
 
-#define PEDAL
-
 #include "../config.h"
 
 #include "drivers/drivers.h"
@@ -32,14 +30,7 @@
 uint32_t enter_bootloader_mode;
 
 void __initialize_hardware_early() {
-  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
-    enter_bootloader_mode = 0;
-    void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
-    bootloader();
-
-    // LOOP
-    while(1);
-  }
+  early();
 }
 
 // ********************* serial debugging *********************
diff --git a/tests/can_printer.py b/tests/can_printer.py
index b79f3d5d40b7ba..e863889c16424b 100755
--- a/tests/can_printer.py
+++ b/tests/can_printer.py
@@ -15,6 +15,7 @@ def sec_since_boot():
 
 def can_printer():
   p = Panda()
+  p.set_safety_mode(0x1337)
 
   start = sec_since_boot()
   lp = sec_since_boot()