diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp
index 798c99639b..1bf6624252 100644
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -35,11 +35,6 @@ using namespace hal;
 static std::unique_ptr<tGlobal> global;
 static std::unique_ptr<tSysWatchdog> watchdog;
 
-static std::mutex timeMutex;
-static uint32_t timeEpoch = 0;
-static uint32_t prevFPGATime = 0;
-static HAL_NotifierHandle rolloverNotifier = 0;
-
 using namespace hal;
 
 extern "C" {
@@ -224,14 +219,16 @@ uint64_t HAL_GetFPGATime(int32_t* status) {
     *status = NiFpga_Status_ResourceNotInitialized;
     return 0;
   }
-  std::lock_guard<std::mutex> lock(timeMutex);
-  uint32_t fpgaTime = global->readLocalTime(status);
+  uint64_t upper1 = global->readLocalTimeUpper(status);
+  uint32_t lower = global->readLocalTime(status);
+  uint64_t upper2 = global->readLocalTimeUpper(status);
   if (*status != 0) return 0;
-  // check for rollover
-  if (fpgaTime < prevFPGATime) ++timeEpoch;
-  prevFPGATime = fpgaTime;
-  return static_cast<uint64_t>(timeEpoch) << 32 |
-         static_cast<uint64_t>(fpgaTime);
+  if (upper1 != upper2) {
+    // Rolled over between the lower call, reread lower
+    lower = global->readLocalTime(status);
+    if (*status != 0) return 0;
+  }
+  return (upper2 << 32) + lower;
 }
 
 /**
@@ -262,12 +259,6 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
   return !(watchdog->readStatus_PowerAlive(status));
 }
 
-static void timerRollover(uint64_t currentTime, HAL_NotifierHandle handle) {
-  // reschedule timer for next rollover
-  int32_t status = 0;
-  HAL_UpdateNotifierAlarm(handle, currentTime + 0x80000000ULL, &status);
-}
-
 void HAL_BaseInitialize(int32_t* status) {
   static std::atomic_bool initialized{false};
   static std::mutex initializeMutex;
@@ -361,23 +352,6 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   int32_t status = 0;
   HAL_BaseInitialize(&status);
 
-  if (!rolloverNotifier)
-    rolloverNotifier = HAL_InitializeNotifierNonThreadedUnsafe(
-        timerRollover, nullptr, &status);
-  if (status == 0) {
-    uint64_t curTime = HAL_GetFPGATime(&status);
-    if (status == 0) {
-      HAL_UpdateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL,
-                              &status);
-    } else {
-      // return false if status failed.
-      return false;
-    }
-  } else {
-    // return false if status failed.
-    return false;
-  }
-
   HAL_InitializeDriverStation();
 
   initialized = true;
diff --git a/hal/src/main/native/athena/PWM.cpp b/hal/src/main/native/athena/PWM.cpp
index 34c8d096a2..d4117ab85e 100644
--- a/hal/src/main/native/athena/PWM.cpp
+++ b/hal/src/main/native/athena/PWM.cpp
@@ -450,4 +450,24 @@ int32_t HAL_GetLoopTiming(int32_t* status) {
   return pwmSystem->readLoopTiming(status);
 }
 
+/**
+ * Get the pwm starting cycle time
+ *
+ * @return The pwm cycle start time.
+ */
+uint64_t HAL_GetCycleStartTime(int32_t* status) {
+  initializeDigital(status);
+  if (*status != 0) return 0;
+  uint64_t upper1 = pwmSystem->readCycleStartTimeUpper(status);
+  uint32_t lower = pwmSystem->readCycleStartTime(status);
+  uint64_t upper2 = pwmSystem->readCycleStartTimeUpper(status);
+  if (*status != 0) return 0;
+  if (upper1 != upper2) {
+    // Rolled over between the lower call, reread lower
+    lower = pwmSystem->readCycleStartTime(status);
+    if (*status != 0) return 0;
+  }
+  return (upper2 << 32) + lower;
+}
+
 }  // extern "C"
diff --git a/hal/src/main/native/include/HAL/PWM.h b/hal/src/main/native/include/HAL/PWM.h
index b581701b95..894c738669 100644
--- a/hal/src/main/native/include/HAL/PWM.h
+++ b/hal/src/main/native/include/HAL/PWM.h
@@ -50,6 +50,7 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status);
 void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
                            int32_t* status);
 int32_t HAL_GetLoopTiming(int32_t* status);
+uint64_t HAL_GetCycleStartTime(int32_t* status);
 #ifdef __cplusplus
 }  // extern "C"
 #endif
diff --git a/hal/src/main/native/sim/PWM.cpp b/hal/src/main/native/sim/PWM.cpp
index f69afbb638..9bc75b1768 100644
--- a/hal/src/main/native/sim/PWM.cpp
+++ b/hal/src/main/native/sim/PWM.cpp
@@ -341,4 +341,11 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
  * @return The loop time
  */
 int32_t HAL_GetLoopTiming(int32_t* status) { return kExpectedLoopTiming; }
+
+/**
+ * Get the pwm starting cycle time
+ *
+ * @return The pwm cycle start time.
+ */
+uint64_t HAL_GetCycleStartTime(int32_t* status) { return 0; }
 }