diff --git a/Firmware/Board/v3/Inc/main.h b/Firmware/Board/v3/Inc/main.h
index 0a307122..1e76830d 100644
--- a/Firmware/Board/v3/Inc/main.h
+++ b/Firmware/Board/v3/Inc/main.h
@@ -67,12 +67,13 @@
 
 /* Private define ------------------------------------------------------------*/
 #define TIM_1_8_CLOCK_HZ 168000000
-#define TIM_1_8_PERIOD_CLOCKS 10192
+#define TIM_1_8_PERIOD_CLOCKS 3500
 #define TIM_1_8_DEADTIME_CLOCKS 20
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
 #define configAPPLICATION_ALLOCATED_HEAP 1
+#define TIM_1_8_RCR 2
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC
@@ -168,8 +169,8 @@
 //TODO: make this come automatically out of CubeMX somehow
 #define TIM_TIME_BASE TIM14
 
-#define CURRENT_MEAS_PERIOD ((float)(2*TIM_1_8_PERIOD_CLOCKS)/(float)TIM_1_8_CLOCK_HZ)
-#define CURRENT_MEAS_HZ (TIM_1_8_CLOCK_HZ/(2*TIM_1_8_PERIOD_CLOCKS))
+#define CURRENT_MEAS_PERIOD ( (float)2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1) / (float)TIM_1_8_CLOCK_HZ )
+#define CURRENT_MEAS_HZ ( (float)(TIM_1_8_CLOCK_HZ) / (float)(2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1)) )
 
 #if HW_VERSION_VOLTAGE == 48
 #define VBUS_S_DIVIDER_RATIO 19.0f
diff --git a/Firmware/Board/v3/Inc/prev_board_ver/main_V3_2.h b/Firmware/Board/v3/Inc/prev_board_ver/main_V3_2.h
index bd3f6305..567fe028 100644
--- a/Firmware/Board/v3/Inc/prev_board_ver/main_V3_2.h
+++ b/Firmware/Board/v3/Inc/prev_board_ver/main_V3_2.h
@@ -1,12 +1,13 @@
 
 /* Private define ------------------------------------------------------------*/
 #define TIM_1_8_CLOCK_HZ 168000000
-#define TIM_1_8_PERIOD_CLOCKS 10192
+#define TIM_1_8_PERIOD_CLOCKS 3500
 #define TIM_1_8_DEADTIME_CLOCKS 20
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
 #define configAPPLICATION_ALLOCATED_HEAP 1
+#define TIM_1_8_RCR 2
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC
diff --git a/Firmware/Board/v3/Inc/prev_board_ver/main_V3_4.h b/Firmware/Board/v3/Inc/prev_board_ver/main_V3_4.h
index 19428406..5695d700 100644
--- a/Firmware/Board/v3/Inc/prev_board_ver/main_V3_4.h
+++ b/Firmware/Board/v3/Inc/prev_board_ver/main_V3_4.h
@@ -1,12 +1,13 @@
 
 /* Private define ------------------------------------------------------------*/
 #define TIM_1_8_CLOCK_HZ 168000000
-#define TIM_1_8_PERIOD_CLOCKS 10192
+#define TIM_1_8_PERIOD_CLOCKS 3500
 #define TIM_1_8_DEADTIME_CLOCKS 20
 #define TIM_APB1_CLOCK_HZ 84000000
 #define TIM_APB1_PERIOD_CLOCKS 4096
 #define TIM_APB1_DEADTIME_CLOCKS 40
 #define configAPPLICATION_ALLOCATED_HEAP 1
+#define TIM_1_8_RCR 2
 
 #define M0_nCS_Pin GPIO_PIN_13
 #define M0_nCS_GPIO_Port GPIOC
diff --git a/Firmware/Board/v3/Odrive.ioc b/Firmware/Board/v3/Odrive.ioc
index fa9ca5ac..707c3f2a 100644
--- a/Firmware/Board/v3/Odrive.ioc
+++ b/Firmware/Board/v3/Odrive.ioc
@@ -76,7 +76,7 @@ ADC3.SamplingTime-7\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
 ADC3.SamplingTime-8\#ChannelInjectedConversion=ADC_SAMPLETIME_3CYCLES
 ADC3.ScanConvMode=DISABLE
 CAN1.AutoWakeUp=ENABLE
-CAN1.CalculateTimeBit=2000
+CAN1.CalculateTimeBit=500
 CAN1.CalculateTimeQuantum=166.66666666666669
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,Prescaler,TimeSeg1,TimeSeg2,AutoWakeUp
 CAN1.Prescaler=7
@@ -207,7 +207,7 @@ Mcu.Pin8=PC3
 Mcu.Pin9=PA0-WKUP
 Mcu.PinsNb=56
 Mcu.ThirdPartyNb=0
-Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,10192;TIM_1_8_DEADTIME_CLOCKS,20;TIM_APB1_CLOCK_HZ,84000000;TIM_APB1_PERIOD_CLOCKS,4096;TIM_APB1_DEADTIME_CLOCKS,40;configAPPLICATION_ALLOCATED_HEAP,1
+Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,3500;TIM_1_8_DEADTIME_CLOCKS,20;TIM_APB1_CLOCK_HZ,84000000;TIM_APB1_PERIOD_CLOCKS,4096;TIM_APB1_DEADTIME_CLOCKS,40;configAPPLICATION_ALLOCATED_HEAP,1;TIM_1_8_RCR,2
 Mcu.UserName=STM32F405RGTx
 MxCube.Version=4.24.0
 MxDb.Version=DB.4.0.240
@@ -450,6 +450,8 @@ ProjectManager.HeapSize=0x3C00
 ProjectManager.KeepUserCode=true
 ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=1
+ProjectManager.MainLocation=Src
+ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=SW4STM32
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=Odrive.ioc
@@ -576,7 +578,7 @@ TIM1.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2
 TIM1.Channel-PWM\ Generation3\ CH3\ CH3N=TIM_CHANNEL_3
 TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED3
 TIM1.DeadTime=TIM_1_8_DEADTIME_CLOCKS
-TIM1.IPParameters=Channel-PWM Generation2 CH2 CH2N,Channel-PWM Generation3 CH3 CH3N,OCNPolarity_1,OCNPolarity_2,OCNPolarity_3,CounterMode,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Period,DeadTime,OffStateRunMode,OffStateIDLEMode,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N
+TIM1.IPParameters=Channel-PWM Generation2 CH2 CH2N,Channel-PWM Generation3 CH3 CH3N,OCNPolarity_1,OCNPolarity_2,OCNPolarity_3,CounterMode,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Period,DeadTime,OffStateRunMode,OffStateIDLEMode,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N,RepetitionCounter
 TIM1.OCMode_PWM-PWM\ Generation1\ CH1\ CH1N=TIM_OCMODE_PWM2
 TIM1.OCMode_PWM-PWM\ Generation2\ CH2\ CH2N=TIM_OCMODE_PWM2
 TIM1.OCMode_PWM-PWM\ Generation3\ CH3\ CH3N=TIM_OCMODE_PWM2
@@ -586,6 +588,7 @@ TIM1.OCNPolarity_3=TIM_OCNPOLARITY_HIGH
 TIM1.OffStateIDLEMode=TIM_OSSI_ENABLE
 TIM1.OffStateRunMode=TIM_OSSR_ENABLE
 TIM1.Period=TIM_1_8_PERIOD_CLOCKS
+TIM1.RepetitionCounter=TIM_1_8_RCR
 TIM1.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
 TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
@@ -624,13 +627,14 @@ TIM8.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2
 TIM8.Channel-PWM\ Generation3\ CH3\ CH3N=TIM_CHANNEL_3
 TIM8.CounterMode=TIM_COUNTERMODE_CENTERALIGNED3
 TIM8.DeadTime=TIM_1_8_DEADTIME_CLOCKS
-TIM8.IPParameters=Channel-PWM Generation3 CH3 CH3N,Channel-PWM Generation2 CH2 CH2N,CounterMode,Period,OffStateRunMode,OffStateIDLEMode,DeadTime,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N
+TIM8.IPParameters=Channel-PWM Generation3 CH3 CH3N,Channel-PWM Generation2 CH2 CH2N,CounterMode,Period,OffStateRunMode,OffStateIDLEMode,DeadTime,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N,RepetitionCounter
 TIM8.OCMode_PWM-PWM\ Generation1\ CH1\ CH1N=TIM_OCMODE_PWM2
 TIM8.OCMode_PWM-PWM\ Generation2\ CH2\ CH2N=TIM_OCMODE_PWM2
 TIM8.OCMode_PWM-PWM\ Generation3\ CH3\ CH3N=TIM_OCMODE_PWM2
 TIM8.OffStateIDLEMode=TIM_OSSI_ENABLE
 TIM8.OffStateRunMode=TIM_OSSR_ENABLE
 TIM8.Period=TIM_1_8_PERIOD_CLOCKS
+TIM8.RepetitionCounter=TIM_1_8_RCR
 TIM8.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
 UART4.IPParameters=VirtualMode
 UART4.VirtualMode=Asynchronous
diff --git a/Firmware/Board/v3/Src/tim.c b/Firmware/Board/v3/Src/tim.c
index 7b159ea5..a909cf2a 100644
--- a/Firmware/Board/v3/Src/tim.c
+++ b/Firmware/Board/v3/Src/tim.c
@@ -94,7 +94,7 @@ void MX_TIM1_Init(void)
   htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
   htim1.Init.Period = TIM_1_8_PERIOD_CLOCKS;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.RepetitionCounter = TIM_1_8_RCR;
   if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
   {
     _Error_Handler(__FILE__, __LINE__);
@@ -324,7 +324,7 @@ void MX_TIM8_Init(void)
   htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
   htim8.Init.Period = TIM_1_8_PERIOD_CLOCKS;
   htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.RepetitionCounter = TIM_1_8_RCR;
   if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
   {
     _Error_Handler(__FILE__, __LINE__);