diff --git a/Firmware/Board/v3/Src/tim.c b/Firmware/Board/v3/Src/tim.c
index bd27e5f5..97205c15 100644
--- a/Firmware/Board/v3/Src/tim.c
+++ b/Firmware/Board/v3/Src/tim.c
@@ -382,7 +382,7 @@ void MX_TIM13_Init(void)
   htim13.Instance = TIM13;
   htim13.Init.Prescaler = 0;
   htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim13.Init.Period = (2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR+1)) * (TIM_APB1_CLOCK_HZ / TIM_1_8_CLOCK_HZ);
+  htim13.Init.Period = (2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR+1)) * ((float)TIM_APB1_CLOCK_HZ / (float)TIM_1_8_CLOCK_HZ) - 1;
   htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
   {
diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp
index d807dc33..5bc256ae 100644
--- a/Firmware/MotorControl/low_level.cpp
+++ b/Firmware/MotorControl/low_level.cpp
@@ -216,7 +216,8 @@ void start_adc_pwm() {
     start_pwm(&htim1);
     start_pwm(&htim8);
     // TODO: explain why this offset
-    sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_1_8_PERIOD_CLOCKS / 2 - 1 * 128);
+    sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_1_8_PERIOD_CLOCKS / 2 - 1 * 128,
+            &htim13);
 
     // Motor output starts in the disabled state
     __HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(&htim1);
@@ -259,7 +260,8 @@ void start_pwm(TIM_HandleTypeDef* htim) {
 }
 
 void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
-                 uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset) {
+                 uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset,
+                 TIM_HandleTypeDef* htim_refbase) {
     // Store intial timer configs
     uint16_t MOE_store_a = htim_a->Instance->BDTR & (TIM_BDTR_MOE);
     uint16_t MOE_store_b = htim_b->Instance->BDTR & (TIM_BDTR_MOE);
@@ -294,6 +296,11 @@ void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
     // set counter offset
     htim_a->Instance->CNT = count_offset;
     htim_b->Instance->CNT = 0;
+    // Set and start reference timebase timer (if used)
+    if (htim_refbase) {
+        htim_refbase->Instance->CNT = count_offset;
+        htim_refbase->Instance->CR1 |= (TIM_CR1_CEN); // start
+    }
     // Start Timer a
     htim_a->Instance->CR1 |= (TIM_CR1_CEN);
     // Restore timer configs
@@ -475,8 +482,14 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
     int axis_num = injected ? 0 : 1;
     Axis& other_axis = injected ? *axes[1] : *axes[0];
     bool counting_down = axis.motor_.hw_config_.timer->Instance->CR1 & TIM_CR1_DIR;
-
     bool current_meas_not_DC_CAL = !counting_down;
+
+    // Check the timing of the sequencing
+    if (current_meas_not_DC_CAL)
+        axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_I);
+    else
+        axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_DC);
+
     bool update_timings = false;
     if (hadc == &hadc2) {
         if (&axis == axes[1] && counting_down)
@@ -503,12 +516,6 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
         update_brake_current();
     }
 
-    // Check the timing of the sequencing
-    if (current_meas_not_DC_CAL)
-        axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_I);
-    else
-        axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_DC);
-
     uint32_t ADCValue;
     if (injected) {
         ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 605db9ba..3a3225de 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -46,7 +46,8 @@ void pwm_in_cb(int channel, uint32_t timestamp);
 void start_adc_pwm();
 void start_pwm(TIM_HandleTypeDef* htim);
 void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
-        uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset);
+                 uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset,
+                 TIM_HandleTypeDef* htim_refbase = nullptr);
 void start_general_purpose_adc();
 float get_adc_voltage(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin);
 void pwm_in_init();
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 230f7f64..5585a862 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -149,13 +149,8 @@ bool Motor::do_checks() {
 }
 
 void Motor::log_timing(TimingLog_t log_idx) {
-    TIM_HandleTypeDef* htim = hw_config_.timer;
-    uint16_t timing = htim->Instance->CNT;
-    bool down = htim->Instance->CR1 & TIM_CR1_DIR;
-    if (down) {
-        uint16_t delta = TIM_1_8_PERIOD_CLOCKS - timing;
-        timing = TIM_1_8_PERIOD_CLOCKS + delta;
-    }
+    static const uint16_t clocks_per_cnt = (uint16_t)((float)TIM_1_8_CLOCK_HZ / (float)TIM_APB1_CLOCK_HZ);
+    uint16_t timing = clocks_per_cnt * htim13.Instance->CNT; // TODO: Use a hw_config
 
     if (log_idx < TIMING_LOG_NUM_SLOTS) {
         timing_log_[log_idx] = timing;