diff --git a/scripts/flash-linux.sh b/scripts/flash-linux.sh
new file mode 100755
index 00000000..ea2e3070
--- /dev/null
+++ b/scripts/flash-linux.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+# This script installs the Linux MCU code to /usr/local/bin/
+
+if [ "$EUID" -ne 0 ]; then
+    echo "This script must be run as root"
+    exit -1
+fi
+set -e
+
+# Install new micro-controller code
+echo "Installing mirco-controller code to /usr/local/bin/"
+rm -f /usr/local/bin/klipper_mcu
+cp out/klipper.elf /usr/local/bin/klipper_mcu
+sync
+
+# Restart (if system install script present)
+if [ -f /etc/init.d/klipper_pru ]; then
+    echo "Attempting host MCU restart..."
+    service klipper_pru restart
+fi
diff --git a/scripts/flash-pru.sh b/scripts/flash-pru.sh
index c0fee3e5..c508606c 100755
--- a/scripts/flash-pru.sh
+++ b/scripts/flash-pru.sh
@@ -13,18 +13,8 @@ cp out/pru0.elf /lib/firmware/am335x-pru0-fw
 cp out/pru1.elf /lib/firmware/am335x-pru1-fw
 sync
 
-# Shutdown existing Klipper instance (if applicable). The goal is to
-# put the GPIO pins in a safe state.
-if [ -c /dev/rpmsg_pru30 ]; then
-    echo "Attempting to shutdown existing firmware..."
-    ( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( echo "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
-    sleep 1
-    ( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( echo "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
-    sleep 1
+# Restart (if system install script present)
+if [ -f /etc/init.d/klipper_pru ]; then
+    echo "Attempting PRU restart..."
+    service klipper_pru restart
 fi
-set +e
-
-# Restart the PRU
-echo "Restarting pru_rproc module"
-rmmod -f pru_rproc
-modprobe pru_rproc
diff --git a/scripts/install-beaglebone.sh b/scripts/install-beaglebone.sh
index 209f6948..695e9f15 100755
--- a/scripts/install-beaglebone.sh
+++ b/scripts/install-beaglebone.sh
@@ -33,10 +33,17 @@ install_udev()
 {
     report_status "Installing pru udev rule..."
     sudo /bin/sh -c "cat > /etc/udev/rules.d/pru.rules" <<EOF
-KERNEL=="rpmsg_pru30", MODE="0666"
+KERNEL=="rpmsg_pru30", GROUP="tty", MODE="0660"
 EOF
 }
 
+# Step 5: Add user to tty group
+install_groups()
+{
+    report_status "Adding $USER to tty group..."
+    sudo adduser $USER tty
+}
+
 # Helper functions
 report_status()
 {
@@ -63,3 +70,4 @@ install_main
 install_packages
 install_script
 install_udev
+install_groups
diff --git a/scripts/klipper-pru-start.sh b/scripts/klipper-pru-start.sh
index 747543a2..6e2cd96a 100755
--- a/scripts/klipper-pru-start.sh
+++ b/scripts/klipper-pru-start.sh
@@ -14,23 +14,98 @@
 PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
 DESC="klipper_pru startup"
 NAME="klipper_pru"
+KLIPPER_HOST_MCU=/usr/local/bin/klipper_mcu
+KLIPPER_HOST_ARGS="-w -r"
+PIDFILE=/var/run/klipper_mcu.pid
 
 . /lib/lsb/init-functions
 
+pru_stop()
+{
+    # Shutdown existing Klipper instance (if applicable). The goal is to
+    # put the GPIO pins in a safe state.
+    if [ -c /dev/rpmsg_pru30 ]; then
+        log_daemon_msg "Attempting to shutdown PRU..."
+        set -e
+        ( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
+        sleep 1
+        ( echo "FORCE_SHUTDOWN" > /dev/rpmsg_pru30 ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
+        sleep 1
+        set +e
+    fi
+
+    log_daemon_msg "Stopping pru"
+    echo 4a334000.pru0 > /sys/bus/platform/drivers/pru-rproc/unbind
+    echo 4a338000.pru1 > /sys/bus/platform/drivers/pru-rproc/unbind
+}
+
+pru_start()
+{
+    if [ -c /dev/rpmsg_pru30 ]; then
+        pru_stop
+        sleep 1
+    fi
+
+    log_daemon_msg "Starting pru"
+    echo 4a334000.pru0 > /sys/bus/platform/drivers/pru-rproc/bind
+    echo 4a338000.pru1 > /sys/bus/platform/drivers/pru-rproc/bind
+}
+
+mcu_host_stop()
+{
+    # Shutdown existing Klipper instance (if applicable). The goal is to
+    # put the GPIO pins in a safe state.
+    if [ -c /tmp/klipper_host_mcu ]; then
+        log_daemon_msg "Attempting to shutdown host mcu..."
+        set -e
+        ( echo "FORCE_SHUTDOWN" > /tmp/klipper_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
+        sleep 1
+        ( echo "FORCE_SHUTDOWN" > /tmp/klipper_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
+        sleep 1
+        set +e
+    fi
+
+    log_daemon_msg "Stopping klipper host mcu" $NAME
+    killproc -p $PIDFILE $KLIPPER_HOST_MCU
+}
+
+mcu_host_start()
+{
+    [ -x $KLIPPER_HOST_MCU ] || return
+
+    if [ -c /tmp/klipper_host_mcu ]; then
+        mcu_host_stop
+    fi
+
+    log_daemon_msg "Starting klipper MCU" $NAME
+    start-stop-daemon --start --quiet --exec $KLIPPER_HOST_MCU \
+                      --background --pidfile $PIDFILE --make-pidfile \
+                      -- $KLIPPER_HOST_ARGS
+    log_end_msg $?
+}
+
 case "$1" in
-start)  log_daemon_msg "Starting klipper_pru" $NAME
-        # Enable ADC module
-        echo 'BB-ADC' > /sys/devices/platform/bone_capemgr/slots
-        # Start PRU firmware
-        if [ ! -c /dev/rpmsg_pru30 ]; then
-            rmmod -f pru_rproc
-            modprobe pru_rproc
-        fi
-        ;;
-stop|restart|reload|force-reload|status)
-        ;;
-*)      log_action_msg "Usage: /etc/init.d/klipper_pru {start|stop|status|restart|reload|force-reload}"
-        exit 2
-        ;;
+start)
+    pru_start
+    mcu_host_start
+    ;;
+stop)
+    pru_stop
+    mcu_host_stop
+    ;;
+restart)
+    $0 stop
+    $0 start
+    ;;
+reload|force-reload)
+    log_daemon_msg "Reloading configuration not supported" $NAME
+    log_end_msg 1
+    ;;
+status)
+    status_of_proc -p $PIDFILE $KLIPPER_HOST_MCU $NAME && exit 0 || exit $?
+    ;;
+*)  log_action_msg "Usage: /etc/init.d/klipper {start|stop|status|restart|reload|force-reload}"
+    exit 2
+    ;;
 esac
 exit 0
diff --git a/src/linux/Makefile b/src/linux/Makefile
index 5ab3fc27..6df57f44 100644
--- a/src/linux/Makefile
+++ b/src/linux/Makefile
@@ -7,3 +7,7 @@ src-y += linux/pca9685.c linux/spidev.c linux/analog.c
 src-y += generic/crc16_ccitt.c generic/alloc.c
 
 CFLAGS_klipper.elf += -lutil
+
+flash: $(OUT)klipper.elf
+	@echo "  Flashing"
+	$(Q)sudo ./scripts/flash-linux.sh