diff --git a/firmware/controllers/algo/obd_error_codes.h b/firmware/controllers/algo/obd_error_codes.h
index ce9ab36feb..8427c066bd 100644
--- a/firmware/controllers/algo/obd_error_codes.h
+++ b/firmware/controllers/algo/obd_error_codes.h
@@ -1876,16 +1876,16 @@ typedef enum {
 	CUSTOM_ERR_ADC_USED = 6517,
 	CUSTOM_ERR_ADC_DEPTH_SLOW = 6518,
 	CUSTOM_ERR_ADC_DEPTH_FAST = 6519,
-	CUSTOM_ERR_6520 = 6520,
-	CUSTOM_ERR_6521 = 6521,
-	CUSTOM_ERR_6522 = 6522,
-	CUSTOM_ERR_6523 = 6523,
+	CUSTOM_ERR_ICU = 6520,
+	CUSTOM_ERR_ICU_AF = 6521,
+	CUSTOM_ERR_ICU_DRIVER = 6522,
+	CUSTOM_ERR_ICU_PIN = 6523,
 	CUSTOM_ERR_UNEXPECTED_SPI = 6524,
 	CUSTOM_ERR_EXT_MODE = 6525,
 	CUSTOM_ERR_TIMER_OVERFLOW = 6526,
-	CUSTOM_ERR_6527 = 6527,
-	CUSTOM_ERR_6528 = 6528,
-	CUSTOM_ERR_6529 = 6529,
+	CUSTOM_ERR_NULL_TIMER_CALLBACK = 6527,
+	CUSTOM_ERR_SCHEDULING_ERROR = 6528,
+	CUSTOM_ERR_LOGGING_NOT_READY = 6529,
 	CUSTOM_ERR_6530 = 6530,
 	CUSTOM_ERR_6531 = 6531,
 	CUSTOM_ERR_6532 = 6532,
diff --git a/firmware/controllers/trigger/trigger_central.cpp b/firmware/controllers/trigger/trigger_central.cpp
index 01a9608372..a48479e59f 100644
--- a/firmware/controllers/trigger/trigger_central.cpp
+++ b/firmware/controllers/trigger/trigger_central.cpp
@@ -390,6 +390,7 @@ extern uint32_t maxLockTime;
 extern uint32_t maxEventQueueTime;
 extern uint32_t hipLastExecutionCount;
 extern uint32_t hwSetTimerTime;
+extern uint32_t maxPrecisionTCallbackDuration;
 
 extern int maxHowFarOff;
 extern uint32_t *cyccnt;
@@ -400,6 +401,7 @@ extern int vvtEventFallCounter;
 void resetMaxValues() {
 #if (EFI_PROD_CODE || EFI_SIMULATOR) || defined(__DOXYGEN__)
 	maxEventQueueTime = triggerMaxDuration = 0;
+	maxPrecisionTCallbackDuration = 0;
 #endif /* EFI_PROD_CODE || EFI_SIMULATOR */
 }
 
@@ -501,6 +503,7 @@ void triggerInfo(void) {
 	scheduleMsg(logger, "hwSetTimerTime %d", hwSetTimerTime);
 
 	scheduleMsg(logger, "totalTriggerHandlerMaxTime=%d", triggerMaxDuration);
+	scheduleMsg(logger, "maxPrecisionTCallbackDuration=%d", maxPrecisionTCallbackDuration);
 	resetMaxValues();
 
 #endif /* EFI_PROD_CODE */
diff --git a/firmware/hw_layer/digital_input_hw.cpp b/firmware/hw_layer/digital_input_hw.cpp
index fab1b364f9..1bd47a2291 100644
--- a/firmware/hw_layer/digital_input_hw.cpp
+++ b/firmware/hw_layer/digital_input_hw.cpp
@@ -34,7 +34,7 @@ static digital_input_s * finddigital_input_s(ICUDriver *driver) {
 			return &registeredIcus.elements[i];
 		}
 	}
-	firmwareError(CUSTOM_ERR_6520, "reader not found");
+	firmwareError(CUSTOM_ERR_ICU, "reader not found");
 	return (digital_input_s *) NULL;
 }
 
@@ -60,7 +60,7 @@ static void icuPeriordCallBack(ICUDriver *driver) {
 
 static uint32_t getAlternateFunctions(ICUDriver *driver) {
 	if (driver == NULL) {
-		firmwareError(CUSTOM_ERR_6521, "getAlternateFunctions(NULL)");
+		firmwareError(CUSTOM_ERR_ICU_AF, "getAlternateFunctions(NULL)");
 		return 0xffffffff;
 	}
 #if STM32_ICU_USE_TIM1
@@ -88,7 +88,7 @@ static uint32_t getAlternateFunctions(ICUDriver *driver) {
 		return GPIO_AF_TIM9;
 	}
 #endif
-	firmwareError(CUSTOM_ERR_6522, "No such driver");
+	firmwareError(CUSTOM_ERR_ICU_DRIVER, "No such driver");
 	return 0xffffffff;
 }
 
@@ -115,7 +115,7 @@ icuchannel_t getInputCaptureChannel(brain_pin_e hwPin) {
 	case GPIOE_11: // TIM1
 		return ICU_CHANNEL_2;
 	default:
-		firmwareError(CUSTOM_ERR_6523, "Unexpected hw pin in getInputCaptureChannel %s", hwPortname(hwPin));
+		firmwareError(CUSTOM_ERR_ICU_PIN, "Unexpected hw pin in getInputCaptureChannel %s", hwPortname(hwPin));
 		return ICU_CHANNEL_1;
 	}
 }
diff --git a/firmware/hw_layer/microsecond_timer.cpp b/firmware/hw_layer/microsecond_timer.cpp
index 54e4197ab8..37b3177dd5 100644
--- a/firmware/hw_layer/microsecond_timer.cpp
+++ b/firmware/hw_layer/microsecond_timer.cpp
@@ -19,6 +19,9 @@
 // https://my.st.com/public/STe2ecommunities/mcu/Lists/cortex_mx_stm32/Flat.aspx?RootFolder=https%3a%2f%2fmy.st.com%2fpublic%2fSTe2ecommunities%2fmcu%2fLists%2fcortex_mx_stm32%2fInterrupt%20on%20CEN%20bit%20setting%20in%20TIM7&FolderCTID=0x01200200770978C69A1141439FE559EB459D7580009C4E14902C3CDE46A77F0FFD06506F5B&currentviews=474
 
 #if (EFI_PROD_CODE && HAL_USE_GPT) || defined(__DOXYGEN__)
+#include "efilib2.h"
+
+uint32_t maxPrecisionTCallbackDuration = 0;
 
 #define GPTDEVICE GPTD5
 
@@ -79,7 +82,7 @@ static void callback(GPTDriver *gptp) {
 	(void)gptp;
 	timerCallbackCounter++;
 	if (globalTimerCallback == NULL) {
-		firmwareError(CUSTOM_ERR_6527, "NULL globalTimerCallback");
+		firmwareError(CUSTOM_ERR_NULL_TIMER_CALLBACK, "NULL globalTimerCallback");
 		return;
 	}
 	isTimerPending = false;
@@ -93,14 +96,19 @@ static void callback(GPTDriver *gptp) {
 //	chSysUnlockFromISR()
 //	;
 
+	uint32_t before = GET_TIMESTAMP();
 	globalTimerCallback(NULL);
+	uint32_t precisionCallbackDuration = GET_TIMESTAMP() - before;
+	if (precisionCallbackDuration > maxPrecisionTCallbackDuration) {
+		maxPrecisionTCallbackDuration = precisionCallbackDuration;
+	}
 }
 
 static void usTimerWatchDog(void) {
 	if (getTimeNowNt() >= lastSetTimerTimeNt + 2 * CORE_CLOCK) {
 		strcpy(buff, "no_event");
 		itoa10(&buff[8], lastSetTimerValue);
-		firmwareError(CUSTOM_ERR_6528, buff);
+		firmwareError(CUSTOM_ERR_SCHEDULING_ERROR, buff);
 		return;
 	}
 
diff --git a/firmware/util/datalogging.cpp b/firmware/util/datalogging.cpp
index cb1da566da..0005e21f43 100644
--- a/firmware/util/datalogging.cpp
+++ b/firmware/util/datalogging.cpp
@@ -51,7 +51,7 @@ static bool intermediateLoggingBufferInited = false;
  */
 static ALWAYS_INLINE bool validateBuffer(Logging *logging, uint32_t extraLen) {
 	if (logging->buffer == NULL) {
-		firmwareError(CUSTOM_ERR_6529, "Logging not initialized: %s", logging->name);
+		firmwareError(CUSTOM_ERR_LOGGING_NOT_READY, "Logging not initialized: %s", logging->name);
 		return true;
 	}