diff --git a/config/example.cfg b/config/example.cfg
index c579864e..b93dda6f 100644
--- a/config/example.cfg
+++ b/config/example.cfg
@@ -288,15 +288,16 @@ pin_map: arduino
 #   default is to not enable the aliases.
 #restart_method:
 #   This controls the mechanism the host will use to reset the
-#   micro-controller. The choices are 'arduino', 'rpi_usb', and
-#   'command'. The 'arduino' method (toggle DTR) is common on Arduino
-#   boards and clones. The 'rpi_usb' method is useful on Raspberry Pi
-#   boards with micro-controllers powered over USB - it briefly
-#   disables power to all USB ports to accomplish a micro-controller
-#   reset. The 'command' method involves sending a Klipper command to
-#   the micro-controller so that it can reset itself. The default is
-#   'arduino' if the micro-controller communicates over a serial port,
-#   'command' otherwise.
+#   micro-controller. The choices are 'arduino', 'cheetah', 'rpi_usb',
+#   and 'command'. The 'arduino' method (toggle DTR) is common on
+#   Arduino boards and clones. The 'cheetah' method is a special
+#   method needed for some Fysetc Cheetah boards. The 'rpi_usb' method
+#   is useful on Raspberry Pi boards with micro-controllers powered
+#   over USB - it briefly disables power to all USB ports to
+#   accomplish a micro-controller reset. The 'command' method involves
+#   sending a Klipper command to the micro-controller so that it can
+#   reset itself. The default is 'arduino' if the micro-controller
+#   communicates over a serial port, 'command' otherwise.
 
 # The printer section controls high level printer settings.
 [printer]
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 49ec6cb0..36e9c48d 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -386,16 +386,22 @@ class MCU:
                                              self._disconnect)
         # Serial port
         self._serialport = config.get('serial', '/dev/ttyS0')
+        serial_rts = True
+        if config.get('restart_method', None) == "cheetah":
+            # Special case: Cheetah boards require RTS to be deasserted, else
+            # a reset will trigger the built-in bootloader.
+            serial_rts = False
         baud = 0
         if not (self._serialport.startswith("/dev/rpmsg_")
                 or self._serialport.startswith("/tmp/klipper_host_")):
             baud = config.getint('baud', 250000, minval=2400)
         self._serial = serialhdl.SerialReader(
-            self._reactor, self._serialport, baud)
+            self._reactor, self._serialport, baud, serial_rts)
         # Restarts
         self._restart_method = 'command'
         if baud:
-            rmethods = {m: m for m in [None, 'arduino', 'command', 'rpi_usb']}
+            rmethods = {m: m for m in [None, 'arduino', 'cheetah', 'command',
+                                       'rpi_usb']}
             self._restart_method = config.getchoice(
                 'restart_method', rmethods, None)
         self._reset_cmd = self._config_reset_cmd = None
@@ -683,6 +689,10 @@ class MCU:
         logging.info("Attempting MCU '%s' reset", self._name)
         self._disconnect()
         serialhdl.arduino_reset(self._serialport, self._reactor)
+    def _restart_cheetah(self):
+        logging.info("Attempting MCU '%s' Cheetah-style reset", self._name)
+        self._disconnect()
+        serialhdl.cheetah_reset(self._serialport, self._reactor)
     def _restart_via_command(self):
         if ((self._reset_cmd is None and self._config_reset_cmd is None)
             or not self._clocksync.is_active()):
@@ -713,6 +723,8 @@ class MCU:
             self._restart_rpi_usb()
         elif self._restart_method == 'command':
             self._restart_via_command()
+        elif self._restart_method == 'cheetah':
+            self._restart_cheetah()
         else:
             self._restart_arduino()
     # Misc external commands
diff --git a/klippy/serialhdl.py b/klippy/serialhdl.py
index bc8a9d3c..46e31ed4 100644
--- a/klippy/serialhdl.py
+++ b/klippy/serialhdl.py
@@ -13,12 +13,13 @@ class error(Exception):
 
 class SerialReader:
     BITS_PER_BYTE = 10.
-    def __init__(self, reactor, serialport, baud):
+    def __init__(self, reactor, serialport, baud, rts=True):
         self.reactor = reactor
         self.serialport = serialport
         self.baud = baud
         # Serial port
         self.ser = None
+        self.rts = rts
         self.msgparser = msgproto.MessageParser()
         # C interface
         self.ffi_main, self.ffi_lib = chelper.get_ffi()
@@ -85,7 +86,10 @@ class SerialReader:
             try:
                 if self.baud:
                     self.ser = serial.Serial(
-                        self.serialport, self.baud, timeout=0, exclusive=True)
+                        baudrate=self.baud, timeout=0, exclusive=True)
+                    self.ser.port = self.serialport
+                    self.ser.rts = self.rts
+                    self.ser.open()
                 else:
                     self.ser = open(self.serialport, 'rb+')
             except (OSError, IOError, serial.SerialException) as e:
@@ -266,6 +270,32 @@ def stk500v2_leave(ser, reactor):
     logging.debug("Got %s from stk500v2", repr(res))
     ser.baudrate = origbaud
 
+def cheetah_reset(serialport, reactor):
+    # Fysetc Cheetah v1.2 boards have a weird stateful circuitry for
+    # configuring the bootloader. This sequence takes care of disabling it for
+    # sure.
+    # Open the serial port with RTS asserted
+    ser = serial.Serial(baudrate=2400, timeout=0, exclusive=True)
+    ser.port = serialport
+    ser.rts = True
+    ser.open()
+    ser.read(1)
+    reactor.pause(reactor.monotonic() + 0.100)
+    # Toggle DTR
+    ser.dtr = True
+    reactor.pause(reactor.monotonic() + 0.100)
+    ser.dtr = False
+    # Deassert RTS
+    reactor.pause(reactor.monotonic() + 0.100)
+    ser.rts = False
+    reactor.pause(reactor.monotonic() + 0.100)
+    # Toggle DTR again
+    ser.dtr = True
+    reactor.pause(reactor.monotonic() + 0.100)
+    ser.dtr = False
+    reactor.pause(reactor.monotonic() + 0.100)
+    ser.close()
+
 # Attempt an arduino style reset on a serial port
 def arduino_reset(serialport, reactor):
     # First try opening the port at a different baud