diff --git a/board/drivers/bootkick.h b/board/drivers/bootkick.h
index acae3616a..024cc940b 100644
--- a/board/drivers/bootkick.h
+++ b/board/drivers/bootkick.h
@@ -8,18 +8,8 @@ bool bootkick_reset_triggered = false;
 uint16_t bootkick_last_serial_ptr = 0;
 
 void bootkick_tick(bool ignition, bool recent_heartbeat) {
-  BootState boot_state_prev = boot_state;
   const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC);
 
-  if ((ignition && !bootkick_ign_prev) || harness_inserted) {
-    // bootkick on rising edge of ignition or harness insertion
-    boot_state = BOOT_BOOTKICK;
-  } else if (recent_heartbeat) {
-    // disable bootkick once openpilot is up
-    boot_state = BOOT_STANDBY;
-  } else {
-
-  }
 
   /*
     Ensure SOM boots in case it goes into QDL mode. Reset behavior:
@@ -28,40 +18,49 @@ void bootkick_tick(bool ignition, bool recent_heartbeat) {
     * only try once per panda boot, since openpilot will reset panda on startup
     * once BOOT_RESET is triggered, it stays until countdown is finished
   */
-  if (!bootkick_reset_triggered && (boot_state == BOOT_BOOTKICK) && (boot_state_prev == BOOT_STANDBY)) {
-    waiting_to_boot_countdown = 45U;
-  }
-  if (waiting_to_boot_countdown > 0U) {
-    bool serial_activity = uart_ring_som_debug.w_ptr_tx != bootkick_last_serial_ptr;
-    if (serial_activity || current_board->read_som_gpio() || (boot_state != BOOT_BOOTKICK)) {
+  if (boot_state == BOOT_STANDBY) {
+    if ((ignition && !bootkick_ign_prev) || harness_inserted) {
+    // bootkick on rising edge of ignition or harness insertion,
+    // start countdown if we haven't previously tried bootkick reset
+    boot_state = BOOT_BOOTKICK;
+    if (!bootkick_reset_triggered) {
+      waiting_to_boot_countdown = 45U;
+    }
+
+  } else if (boot_state == BOOT_BOOTKICK) {
+    if (recent_heartbeat) {
+      // disable bootkick once openpilot is up
       waiting_to_boot_countdown = 0U;
+      boot_state = BOOT_STANDBY;
     } else {
-      // try a reset
-      if (waiting_to_boot_countdown == 1U) {
-        boot_reset_countdown = 5U;
+      if (waiting_to_boot_countdown > 0U) {
+        waiting_to_boot_countdown--;
+        bool serial_activity = uart_ring_som_debug.w_ptr_tx != bootkick_last_serial_ptr;
+        if (serial_activity || current_board->read_som_gpio()) {
+          waiting_to_boot_countdown = 0U;
+        } else {
+          // try a reset
+          if (waiting_to_boot_countdown == 0U) {
+            boot_reset_countdown = 5U;
+            boot_state = BOOT_RESET;
+          }
+        }
       }
     }
-  }
 
-  // handle reset state
-  if (boot_reset_countdown > 0U) {
-    boot_state = BOOT_RESET;
+  } else if (boot_state == BOOT_RESET) {
+    boot_reset_countdown--;
     bootkick_reset_triggered = true;
-  } else {
-    if (boot_state == BOOT_RESET) {
-      boot_state = BOOT_BOOTKICK;
+    if (boot_reset_countdown == 0U) {
+      boot_state = BOOT_STANDBY;
     }
+
+  } else {
   }
 
   // update state
   bootkick_ign_prev = ignition;
   bootkick_harness_status_prev = harness.status;
   bootkick_last_serial_ptr = uart_ring_som_debug.w_ptr_tx;
-  if (waiting_to_boot_countdown > 0U) {
-    waiting_to_boot_countdown--;
-  }
-  if (boot_reset_countdown > 0U) {
-    boot_reset_countdown--;
-  }
   current_board->set_bootkick(boot_state);
 }