diff --git a/firmware/config/stm32f4ems/mcuconf.h b/firmware/config/stm32f4ems/mcuconf.h
index 47d49e6511..fde0e3d15f 100644
--- a/firmware/config/stm32f4ems/mcuconf.h
+++ b/firmware/config/stm32f4ems/mcuconf.h
@@ -109,18 +109,18 @@
 #define STM32_ADC_ADC1_DMA_PRIORITY         2
 #define STM32_ADC_ADC2_DMA_PRIORITY         2
 #define STM32_ADC_ADC3_DMA_PRIORITY         2
-#define STM32_ADC_IRQ_PRIORITY              6
-#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY     6
-#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY     6
-#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY     6
+#define STM32_ADC_IRQ_PRIORITY              PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY     PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY     PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY     PRECISE_SCHEDULING_TIMER_PRIORITY + 2
 
 /*
  * CAN driver system settings.
  */
 #define STM32_CAN_USE_CAN1                  TRUE
 #define STM32_CAN_USE_CAN2                  TRUE
-#define STM32_CAN_CAN1_IRQ_PRIORITY         11
-#define STM32_CAN_CAN2_IRQ_PRIORITY         11
+#define STM32_CAN_CAN1_IRQ_PRIORITY         PRECISE_SCHEDULING_TIMER_PRIORITY + 7
+#define STM32_CAN_CAN2_IRQ_PRIORITY         PRECISE_SCHEDULING_TIMER_PRIORITY + 7
 
 /*
  * DAC driver system settings.
@@ -128,8 +128,8 @@
 #define STM32_DAC_DUAL_MODE                 FALSE
 #define STM32_DAC_USE_DAC1_CH1              FALSE
 #define STM32_DAC_USE_DAC1_CH2              FALSE
-#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY     10
-#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY     10
+#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY     PRECISE_SCHEDULING_TIMER_PRIORITY + 6
+#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY     PRECISE_SCHEDULING_TIMER_PRIORITY + 6
 #define STM32_DAC_DAC1_CH1_DMA_PRIORITY     2
 #define STM32_DAC_DAC1_CH2_DMA_PRIORITY     2
 #define STM32_DAC_DAC1_CH1_DMA_STREAM       STM32_DMA_STREAM_ID(1, 5)
@@ -138,18 +138,18 @@
 /*
  * EXT driver system settings.
  */
-#define STM32_EXT_EXTI0_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI1_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI2_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI3_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI4_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6
-#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6
-#define STM32_EXT_EXTI16_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI0_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI1_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI2_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI3_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI4_IRQ_PRIORITY        PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI16_IRQ_PRIORITY       PRECISE_SCHEDULING_TIMER_PRIORITY + 2
 #define STM32_EXT_EXTI17_IRQ_PRIORITY       15
-#define STM32_EXT_EXTI18_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI19_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI20_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI18_IRQ_PRIORITY       PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI19_IRQ_PRIORITY       PRECISE_SCHEDULING_TIMER_PRIORITY + 2
+#define STM32_EXT_EXTI20_IRQ_PRIORITY       PRECISE_SCHEDULING_TIMER_PRIORITY + 2
 #define STM32_EXT_EXTI21_IRQ_PRIORITY       15
 #define STM32_EXT_EXTI22_IRQ_PRIORITY       15