diff --git a/Firmware/Board/v3.3/Inc/main.h b/Firmware/Board/v3.3/Inc/main.h
index a9650093..75bd2260 100644
--- a/Firmware/Board/v3.3/Inc/main.h
+++ b/Firmware/Board/v3.3/Inc/main.h
@@ -69,6 +69,8 @@
 #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/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
+}