diff --git a/firmware/controllers/trigger/decoders/trigger_mazda.cpp b/firmware/controllers/trigger/decoders/trigger_mazda.cpp
index 9a4f48dfa6..7356d38ec4 100644
--- a/firmware/controllers/trigger/decoders/trigger_mazda.cpp
+++ b/firmware/controllers/trigger/decoders/trigger_mazda.cpp
@@ -95,7 +95,9 @@ void initializeMazdaMiataNb2Crank(TriggerWaveform *s) {
 	s->tdcPosition = 60 + 655;
 
 	s->setTriggerSynchronizationGap2(0.35f, 0.98f);
+	// 384
 	s->addEvent720(o + 4 * 56.0f, T_PRIMARY, TV_FALL);
+	// 400
 	s->addEvent720(o + 4 * 60.0f, T_PRIMARY, TV_RISE);
 	s->addEvent720(o + 4 * 136.0f, T_PRIMARY, TV_FALL);
 	s->addEvent720(o + 4 * 140.0f, T_PRIMARY, TV_RISE);
diff --git a/unit_tests/tests/test_symmetrical_crank.cpp b/unit_tests/tests/test_symmetrical_crank.cpp
new file mode 100644
index 0000000000..26c49ff9ce
--- /dev/null
+++ b/unit_tests/tests/test_symmetrical_crank.cpp
@@ -0,0 +1,67 @@
+/*
+ * @file test_symmetrical_crank.cpp
+ *
+ * @date Feb 14, 2020
+ * @author Andrey Belomutskiy, (c) 2012-2020
+ */
+
+#include "engine_test_helper.h"
+
+TEST(engine, testSymmetricalCrank) {
+
+	WITH_ENGINE_TEST_HELPER(MAZDA_MIATA_2003);
+
+	float x = 0.02;
+
+	ASSERT_EQ( 0,  GET_RPM()) << "RPM#0";
+
+	eth.fireFall(x * 384);
+	eth.fireRise(x * 16);
+	eth.fireFall(x * 304);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 0,  GET_RPM()) << "RPM#1";
+
+	eth.fireFall(x * 384);
+	eth.fireRise(x * 16);
+	eth.fireFall(x * 304);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 0,  GET_RPM()) << "RPM#2";
+
+	eth.fireFall(x * 384);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 549,  GET_RPM()) << "RPM#2.5";
+	eth.fireFall(x * 304);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 549,  GET_RPM()) << "RPM#3";
+
+	eth.fireFall(x * 384);
+	eth.fireRise(x * 16);
+	eth.fireFall(x * 304);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 549,  GET_RPM()) << "RPM#4";
+
+	eth.fireFall(x * 384);
+	eth.fireRise(x * 16);
+	eth.fireFall(x * 304);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 549,  GET_RPM()) << "RPM#5";
+
+	eth.fireFall(x * 384);
+	eth.fireRise(x * 16);
+	eth.fireFall(x * 304);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 549,  GET_RPM()) << "RPM#6";
+
+	eth.fireFall(x * 384);
+	eth.fireRise(x * 16);
+	eth.fireFall(x * 304);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 374,  GET_RPM()) << "RPM#7";
+
+	eth.fireFall(x * 384);
+	eth.fireRise(x * 16);
+	eth.fireFall(x * 304);
+	eth.fireRise(x * 16);
+	ASSERT_EQ( 374,  GET_RPM()) << "RPM#8";
+
+}
diff --git a/unit_tests/tests/tests.mk b/unit_tests/tests/tests.mk
index f3f3b35a19..61e1d94923 100644
--- a/unit_tests/tests/tests.mk
+++ b/unit_tests/tests/tests.mk
@@ -11,6 +11,7 @@ TESTS_SRC_CPP = \
 	tests/test_miata_na6_real_cranking.cpp \
 	tests/test_fasterEngineSpinningUp.cpp \
 	tests/test_dwell_corner_case_issue_796.cpp \
+	tests/test_symmetrical_crank.cpp \
 	tests/test_idle_controller.cpp \
 	tests/test_trigger_decoder.cpp \
 	tests/test_trigger_noiseless.cpp \