diff --git a/scripts/flash-pru.sh b/scripts/flash-pru.sh
new file mode 100755
index 00000000..c0fee3e5
--- /dev/null
+++ b/scripts/flash-pru.sh
@@ -0,0 +1,30 @@
+#!/bin/bash
+# This script installs the PRU firmware on a beaglebone machine.
+
+if [ "$EUID" -ne 0 ]; then
+    echo "This script must be run as root"
+    exit -1
+fi
+set -e
+
+# Install new firmware
+echo "Installing firmware to /lib/firmware/"
+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
+fi
+set +e
+
+# Restart the PRU
+echo "Restarting pru_rproc module"
+rmmod -f pru_rproc
+modprobe pru_rproc
diff --git a/src/pru/Makefile b/src/pru/Makefile
index a5dfaeb8..323d1aa6 100644
--- a/src/pru/Makefile
+++ b/src/pru/Makefile
@@ -31,3 +31,7 @@ $(OUT)pru0.elf: $(patsubst %.c, $(OUT)src/%.o,$(pru0-y))
 $(OUT)pru1.elf: $(OUT)klipper.elf
 	@echo "  Linking $@"
 	$(Q)$(CC) $(CFLAGS_pru1.elf) $^ -o $@
+
+flash: $(OUT)pru0.elf $(OUT)pru1.elf
+	@echo "  Flashing"
+	$(Q)sudo ./scripts/flash-pru.sh