diff --git a/scripts/flash_can.py b/scripts/flash_can.py
index b787709..1dcd789 100755
--- a/scripts/flash_can.py
+++ b/scripts/flash_can.py
@@ -5,16 +5,20 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 from __future__ import annotations
+import re
 import sys
 import os
 import asyncio
 import socket
 import struct
+import fcntl
+import termios
 import logging
 import errno
 import argparse
 import hashlib
 import pathlib
+import shlex
 from typing import Dict, List, Optional, Union
 
 def output_line(msg: str) -> None:
@@ -496,6 +500,29 @@ class CanSocket:
         self._loop.remove_reader(self.cansock.fileno())
         self.cansock.close()
 
+##########################################################
+#
+#  USB Bootloader Entry Helpers:
+#  Sourced from flash_usb.py in Klipper
+#
+# Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
+#
+##########################################################
+
+def enter_usb_bootloader(device):
+    try:
+        f = open(device, 'rb')
+        fd = f.fileno()
+        fcntl.ioctl(fd, termios.TIOCMBIS, struct.pack('I', termios.TIOCM_DTR))
+        t = termios.tcgetattr(fd)
+        t[4] = t[5] = termios.B1200
+        output_line("Entering bootloader on %s\n" % (device,))
+        termios.tcsetattr(fd, termios.TCSANOW, t)
+        fcntl.ioctl(fd, termios.TIOCMBIC, struct.pack('I', termios.TIOCM_DTR))
+        f.close()
+    except (IOError, OSError) as e:
+        pass
+
 class SerialSocket:
     def __init__(self, loop: asyncio.AbstractEventLoop):
         self._loop = loop
@@ -510,6 +537,52 @@ class SerialSocket:
             self.close()
         self.node.feed_data(data)
 
+    async def _wait_bootloader(self, device_path: pathlib.Path) -> bool:
+        maxsleep = 10.
+        total_sleep = 0.
+        output("Entering USB Bootloader...")
+        while total_sleep < maxsleep:
+            await asyncio.sleep(.5)
+            output(".")
+            total_sleep += .5
+            if device_path.exists():
+                output_line("found")
+                return True
+        output_line("Failed to detect usb device")
+        return False
+
+    async def _is_klipper_usb(self, ttyname: str) -> bool:
+        udev_cmd = shlex.split(f"udevadm info -n {ttyname}")
+        try:
+            proc = await asyncio.subprocess.create_subprocess_exec(
+                *udev_cmd, stdout=asyncio.subprocess.PIPE
+            )
+            stdout, stderr = await proc.communicate()
+            ret = await proc.wait()
+            if ret != 0:
+                return False
+            data = stdout.decode()
+            logging.info(f"udevadm result:\n{data}")
+            match = re.search(r"ID_VENDOR=([0-9a-zA-Z]+)", data)
+            if match is not None and match.group(1).lower() == "klipper":
+                return True
+        except Exception:
+            logging.exception("udevadm error")
+        return False
+
+    async def _find_usb_path(self, device: str) -> Optional[pathlib.Path]:
+        ttypath = pathlib.Path(device).resolve()
+        usb_path = pathlib.Path("/dev/serial/by-path")
+        if not usb_path.exists():
+            return None
+        for devpath in usb_path.iterdir():
+            if (
+                devpath.samefile(ttypath) and
+                await self._is_klipper_usb(ttypath)
+            ):
+                return devpath
+        return None
+
     def send(self, can_id: int, payload: bytes = b"") -> None:
         try:
             self.serial.write(payload)
@@ -521,6 +594,12 @@ class SerialSocket:
         if not fw_path.is_file():
             raise FlashCanError("Invalid firmware path '%s'" % (fw_path))
         import serial
+        dev_path = await self._find_usb_path(intf)
+        if dev_path is not None:
+            # Klipper usb device detected, attempt to enter bootloader
+            intf = str(dev_path)
+            enter_usb_bootloader(dev_path)
+            await self._wait_bootloader(dev_path)
         self.serial_error = serial.SerialException
         try:
             serial_dev = serial.Serial(baudrate=baud, timeout=0,