diff --git a/board/main.c b/board/main.c
index 81dd2a76d7a528..23aeb2d864dbd7 100644
--- a/board/main.c
+++ b/board/main.c
@@ -699,6 +699,7 @@ void TIM1_BRK_TIM9_IRQHandler(void) {
 
     // on to the next one
     uptime_cnt += 1U;
+    safety_mode_cnt += 1U;
   }
   TIM9->SR = 0;
 }
diff --git a/board/safety.h b/board/safety.h
index 973ccda3641c4d..ba5ab83215b5d6 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -96,13 +96,14 @@ const safety_hook_config safety_hook_registry[] = {
 };
 
 int set_safety_hooks(uint16_t mode, int16_t param) {
-  int set_status = -1;   // not set
+  safety_mode_cnt = 0U;  // reset safety mode timer
+  int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
   for (int i = 0; i < hook_config_count; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;
       current_safety_mode = safety_hook_registry[i].id;
-      set_status = 0;    // set
+      set_status = 0;  // set
       break;
     }
   }
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 74d699e761bbdb..81a242a1db440a 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -55,5 +55,8 @@ int gas_interceptor_prev = 0;
 // This is set by USB command 0xdf
 bool long_controls_allowed = true;
 
+// time since safety mode has been changed
+uint32_t safety_mode_cnt = 0U;
+
 // avg between 2 tracks
 #define GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2)