diff --git a/.travis.yml b/.travis.yml
index 531bce18..2fdc962e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,12 +1,17 @@
 # adapted from https://github.com/andysworkshop/stm32plus/blob/master/.travis.yml
 
+branches:
+  only: 
+    - master
+    - devel
+
 language: c
 sudo: false
 
-addons:		
-  apt:		
-    packages:		
-      libc6-i386		
+addons:
+  apt:
+    packages:
+      libc6-i386
 
 cache:
   directories:
diff --git a/Firmware/Board/v3.3/Inc/main.h b/Firmware/Board/v3.3/Inc/main.h
index c6276ad8..9bdea772 100644
--- a/Firmware/Board/v3.3/Inc/main.h
+++ b/Firmware/Board/v3.3/Inc/main.h
@@ -65,6 +65,8 @@
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
+#define TIM_TIME_BASE TIM14
+
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC
diff --git a/Firmware/CHANGELOG.md b/Firmware/CHANGELOG.md
index 9d3e620e..304a193b 100644
--- a/Firmware/CHANGELOG.md
+++ b/Firmware/CHANGELOG.md
@@ -1,17 +1,22 @@
-## UNRELEASED
-Please add a note of your changes below this heading if you make a PR
+# Unreleased Features
+Please add a note of your changes below this heading if you make a Pull Request.
+
+* **Storing of configuration parameters to Non Volatile Memory**
+
+# Releases
+
+## [0.3.5] - 2018-03-04
 
 ### Added
-* **Storing of configuration parameters to Non Volatile Memory**
 * Reporting error if your encoder CPR is incorrect
+* Ability to start anticogging calibration over USB protocol
 * Reporting of DRV status/control registers and fault codes
 * DRV status read script
 * Microsecond delay function
-* Ability to start anticogging calibration over USB protocol
 * Travis-CI
 
 ### Changed
-* Build system is now tup instead of make
+* Build system is now tup instead of make. Please check the [Readme](README.md#installing-prerequisites) for installation instructions.
 
 ## [0.3.4] - 2018-02-13
 
diff --git a/Firmware/MotorControl/commands.cpp b/Firmware/MotorControl/commands.cpp
index 7ef7e995..b70d977b 100644
--- a/Firmware/MotorControl/commands.cpp
+++ b/Firmware/MotorControl/commands.cpp
@@ -305,6 +305,19 @@ const Endpoint endpoints[] = {
         Endpoint::make_function("set_current_setpoint", &motors_1_set_current_setpoint_func),
             Endpoint::make_property("current_setpoint", &motors[1].set_current_setpoint_args.current_setpoint),
         Endpoint::close_tree(),
+        Endpoint::make_object("timing_log"),
+            Endpoint::make_property("TIMING_LOG_GENERAL", &motors[1].timing_log[TIMING_LOG_GENERAL]),
+            Endpoint::make_property("TIMING_LOG_ADC_CB_M0_I", &motors[1].timing_log[TIMING_LOG_ADC_CB_M0_I]),
+            Endpoint::make_property("TIMING_LOG_ADC_CB_M0_DC", &motors[1].timing_log[TIMING_LOG_ADC_CB_M0_DC]),
+            Endpoint::make_property("TIMING_LOG_ADC_CB_M1_I", &motors[1].timing_log[TIMING_LOG_ADC_CB_M1_I]),
+            Endpoint::make_property("TIMING_LOG_ADC_CB_M1_DC", &motors[1].timing_log[TIMING_LOG_ADC_CB_M1_DC]),
+            Endpoint::make_property("TIMING_LOG_MEAS_R", &motors[1].timing_log[TIMING_LOG_MEAS_R]),
+            Endpoint::make_property("TIMING_LOG_MEAS_L", &motors[1].timing_log[TIMING_LOG_MEAS_L]),
+            Endpoint::make_property("TIMING_LOG_ENC_CALIB", &motors[1].timing_log[TIMING_LOG_ENC_CALIB]),
+            Endpoint::make_property("TIMING_LOG_IDX_SEARCH", &motors[1].timing_log[TIMING_LOG_IDX_SEARCH]),
+            Endpoint::make_property("TIMING_LOG_FOC_VOLTAGE", &motors[1].timing_log[TIMING_LOG_FOC_VOLTAGE]),
+            Endpoint::make_property("TIMING_LOG_FOC_CURRENT", &motors[1].timing_log[TIMING_LOG_FOC_CURRENT]),
+        Endpoint::close_tree(),
     Endpoint::close_tree(), // motor1
     Endpoint::make_function("save_configuration", &save_configuration),
         // no arguments
@@ -315,19 +328,6 @@ const Endpoint endpoints[] = {
     Endpoint::make_function("reboot", &NVIC_SystemReset),
         // no arguments
     Endpoint::close_tree(),
-    Endpoint::make_object("timing_log"),
-        Endpoint::make_property("TIMING_LOG_GENERAL", &motors[1].timing_log[TIMING_LOG_GENERAL]),
-        Endpoint::make_property("TIMING_LOG_ADC_CB_M0_I", &motors[1].timing_log[TIMING_LOG_ADC_CB_M0_I]),
-        Endpoint::make_property("TIMING_LOG_ADC_CB_M0_DC", &motors[1].timing_log[TIMING_LOG_ADC_CB_M0_DC]),
-        Endpoint::make_property("TIMING_LOG_ADC_CB_M1_I", &motors[1].timing_log[TIMING_LOG_ADC_CB_M1_I]),
-        Endpoint::make_property("TIMING_LOG_ADC_CB_M1_DC", &motors[1].timing_log[TIMING_LOG_ADC_CB_M1_DC]),
-        Endpoint::make_property("TIMING_LOG_MEAS_R", &motors[1].timing_log[TIMING_LOG_MEAS_R]),
-        Endpoint::make_property("TIMING_LOG_MEAS_L", &motors[1].timing_log[TIMING_LOG_MEAS_L]),
-        Endpoint::make_property("TIMING_LOG_ENC_CALIB", &motors[1].timing_log[TIMING_LOG_ENC_CALIB]),
-        Endpoint::make_property("TIMING_LOG_IDX_SEARCH", &motors[1].timing_log[TIMING_LOG_IDX_SEARCH]),
-        Endpoint::make_property("TIMING_LOG_FOC_VOLTAGE", &motors[1].timing_log[TIMING_LOG_FOC_VOLTAGE]),
-        Endpoint::make_property("TIMING_LOG_FOC_CURRENT", &motors[1].timing_log[TIMING_LOG_FOC_CURRENT]),
-    Endpoint::close_tree(),
 };
 // clang-format on
 
diff --git a/Firmware/MotorControl/utils.c b/Firmware/MotorControl/utils.c
index 032a996a..a6a02a5a 100644
--- a/Firmware/MotorControl/utils.c
+++ b/Firmware/MotorControl/utils.c
@@ -187,13 +187,13 @@ uint32_t timeout_to_deadline(uint32_t timeout_ms) {
 
 // @brief: Returns number of microseconds since system startup
 uint32_t micros(void) {
-    uint32_t usTicks = HAL_RCC_GetSysClockFreq() / 1000000;
     register uint32_t ms, cycle_cnt;
     do {
         ms = HAL_GetTick();
-        cycle_cnt = SysTick->VAL;
-    } while (ms != HAL_GetTick());
-    return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
+        cycle_cnt = TIM_TIME_BASE->CNT;
+     } while (ms != HAL_GetTick());
+
+    return (ms * 1000) + cycle_cnt;
 }
 
 // @brief: Busy wait delay for given amount of microseconds (us)
@@ -203,4 +203,4 @@ void delay_us(uint32_t us)
     while (micros() - start < (uint32_t) us) {
         __ASM("nop");
     }
-}
\ No newline at end of file
+}