diff --git a/src/canboot_main.c b/src/canboot_main.c
index fcf4868..4623605 100644
--- a/src/canboot_main.c
+++ b/src/canboot_main.c
@@ -7,7 +7,6 @@
 #include <string.h>         // strlen
 #include "autoconf.h"       // CONFIG_*
 #include "board/misc.h"     // udelay
-#include "board/canbus.h"   // canbus_send
 #include "board/flash.h"    // flash_read_block
 #include "board/gpio.h"     // gpio_in_setup
 #include "canboot_main.h"   // canboot_main
@@ -18,7 +17,8 @@
 
 #define REQUEST_SIG    0x5984E3FA6CA1589B // Random request sig
 
-static uint8_t complete = 0;
+static uint8_t complete;
+static uint32_t complete_endtime;
 
 void
 command_complete(uint32_t *data)
@@ -26,8 +26,17 @@ command_complete(uint32_t *data)
     uint32_t out[3];
     command_respond_ack(CMD_COMPLETE, out, ARRAY_SIZE(out));
     complete = 1;
+    complete_endtime = timer_read_time() + timer_from_us(100000);
 }
 
+void
+complete_task(void)
+{
+    if (complete && timer_is_before(complete_endtime, timer_read_time()))
+        jump_to_application();
+}
+DECL_TASK(complete_task);
+
 void
 command_connect(uint32_t *data)
 {
@@ -93,16 +102,8 @@ enter_bootloader(void)
 {
     sched_run_init();
 
-    for (;;) {
+    for (;;)
         sched_run_tasks();
-        if (complete && canbus_tx_clear())
-            // wait until we are complete and the ack has returned
-            break;
-    }
-
-    // Flash Complete, system reset
-    udelay(100000);
-    canbus_reboot();
 }
 
 // Main loop of program
diff --git a/src/generic/canbus.c b/src/generic/canbus.c
index 6062c11..a8899e7 100644
--- a/src/generic/canbus.c
+++ b/src/generic/canbus.c
@@ -22,12 +22,6 @@ static uint8_t canbus_uuid[CANBUS_UUID_LEN];
 static struct task_wake canbus_tx_wake;
 static uint8_t transmit_buf[96], transmit_pos, transmit_max;
 
-uint8_t
-canbus_tx_clear(void)
-{
-    return transmit_pos >= transmit_max;
-}
-
 void
 canbus_notify_tx(void)
 {
diff --git a/src/generic/canbus.h b/src/generic/canbus.h
index 8d4a1d5..a7df077 100644
--- a/src/generic/canbus.h
+++ b/src/generic/canbus.h
@@ -11,13 +11,11 @@
 int canbus_read(uint32_t *id, uint8_t *data);
 int canbus_send(uint32_t id, uint32_t len, uint8_t *data);
 void canbus_set_filter(uint32_t id);
-void canbus_reboot(void);
 
 // canbus.c
 void canbus_notify_tx(void);
 void canbus_notify_rx(void);
 void canbus_process_data(uint32_t id, uint32_t len, uint8_t *data);
 void canbus_set_uuid(void *data);
-uint8_t canbus_tx_clear(void);
 
 #endif // canbus.h
diff --git a/src/stm32/can.c b/src/stm32/can.c
index 6c4915e..613c1f2 100644
--- a/src/stm32/can.c
+++ b/src/stm32/can.c
@@ -268,12 +268,6 @@ compute_btr(uint32_t pclock, uint32_t bitrate)
     return make_btr(sjw, time_seg1, time_seg2, brp);
 }
 
-void
-canbus_reboot(void)
-{
-    NVIC_SystemReset();
-}
-
 void
 can_init(void)
 {