diff --git a/panda/board/drivers/can_common.h b/panda/board/drivers/can_common.h
index e9aa0e4dd..83f695e72 100644
--- a/panda/board/drivers/can_common.h
+++ b/panda/board/drivers/can_common.h
@@ -34,6 +34,9 @@ extern bool can_loopback;
 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;
 
+// Mazda 0x202 RPM-based ignition timeout
+uint32_t mazda_ignition_rpm_cnt = 0U;
+
 #define ALL_CAN_SILENT 0xFF
 #define ALL_CAN_LIVE 0
 
@@ -228,6 +231,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
     // Mazda engine RPM based ignition (0x202, 100Hz)
     if ((addr == 0x202) && (len == 8)) {
       int rpm_raw = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
+      mazda_ignition_rpm_cnt = 0U;
       if (rpm_raw > 200) {  // > 200 RPM = engine running
         ignition_can = true;
         ignition_can_cnt = 0U;
@@ -244,6 +248,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
     // Mazda engine RPM based ignition (0x202, 100Hz) - bus 1 redundancy
     if ((addr == 0x202) && (len == 8)) {
       int rpm_raw = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
+      mazda_ignition_rpm_cnt = 0U;
       if (rpm_raw > 200) {  // > 200 RPM = engine running
         ignition_can = true;
         ignition_can_cnt = 0U;
@@ -258,6 +263,12 @@ void ignition_can_hook(CANPacket_t *to_push) {
     }
 
   }
+
+  // Mazda 0x202 RPM timeout: clear ignition_can if no 0x202 seen for ~3s
+  if (mazda_ignition_rpm_cnt > 3U) {
+    ignition_can = false;
+  }
+  mazda_ignition_rpm_cnt++;
 }
 
 bool can_tx_check_min_slots_free(uint32_t min) {